https://github.com/kumarrobotics/dcist_master
Master image for DCIST robots (Titan/Jackal)
https://github.com/kumarrobotics/dcist_master
Last synced: 3 months ago
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Master image for DCIST robots (Titan/Jackal)
- Host: GitHub
- URL: https://github.com/kumarrobotics/dcist_master
- Owner: KumarRobotics
- Created: 2023-11-22T21:35:16.000Z (over 1 year ago)
- Default Branch: master
- Last Pushed: 2024-09-27T23:58:56.000Z (8 months ago)
- Last Synced: 2024-12-27T05:41:50.332Z (5 months ago)
- Language: Dockerfile
- Homepage:
- Size: 54.7 KB
- Stars: 0
- Watchers: 4
- Forks: 2
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
DCIST Master
=============
This is the base image used for the DCIST robots at KR, including the Jackals
and the high-altitude UAV. Images are automatically built and
pushed to Docker Hub.
TL;DR:
- It installs the dependencies required by many user packages (see
`dcist-master/Dockerfile`).
- It copies the `ws` main dcist workspace and builds it.
- It provides helper scripts `build.bash`, `run.bash` and `join.bash`
### Architectures
Three architectures are provided:
- `kumarrobotics/dcist-master-bare` - **x86_64 CPU**: To run in CPU-only platforms, such as the Intel NUC for the high-altitude quads. Based on `ubuntu` Docker images.
- `kumarrobotics/dcist-master-nvda` - **x86_64 CUDA**: To run in x86_64 GPU-accelerated platforms, such as the computers on the Jackals. Based on `nvidia/cuda` Docker images.
- `kumarrobotics/dcist-master-nvda` - **arm64 CUDA**: To run in Nvidia Jetson platforms.
### How to use?
```
docker pull kumarrobotics/dcist-master-bare:latest # For bare image, check above
./run.bash dcist-master bare
# If you need to join the environment later
./join.bash dcist-master bare
```
### How to build?
```
./build.bash dcist-master
```
### Notes on image building
**Important: Only tagged versions are pushed as the `latest` image.**
Github actions build and push docker images for `kumarrobotics/dcist-master` in
Docker Hub. The upstream image is different for x86_64 and arm64, and it can be
defined in `build.bash`.