Dockerfile

ARG OVERLAY_WS=/opt/ws

# multi-stage for caching
FROM stereolabs/zed:3.6-devel-l4t-r32.5.0
#FROM nvcr.io/nvidia/l4t-base:r32.6.1
#FROM stereolabs/zed:3.6-devel-cuda11.4-ubuntu20.04
#FROM nvidia/cuda:11.4.2-devel-ubuntu20.04
# install ROS
RUN echo 'Etc/UTC' > /etc/timezone && \
    ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
    apt-get update && \
    apt-get install -q -y --no-install-recommends tzdata && \
    rm -rf /var/lib/apt/lists/*

RUN apt-get update && apt-get install -q -y --no-install-recommends \
    dirmngr \
    gnupg2 \
    && rm -rf /var/lib/apt/lists/*

RUN echo "deb http://packages.ros.org/ros2/ubuntu bionic main" > /etc/apt/sources.list.d/ros2-latest.list
RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

# setup environment
ENV LANG C.UTF-8
ENV LC_ALL C.UTF-8

ENV ROS_DISTRO eloquent

# install ros2 packages
RUN apt-get update && apt-get install -y --no-install-recommends \
    ros-eloquent-desktop \
    && rm -rf /var/lib/apt/lists/*

# install bootstrap tools
RUN apt-get update && apt-get install --no-install-recommends -y \
    build-essential \
    git \
    python3-colcon-common-extensions \
    python3-colcon-mixin \
    python3-rosdep \
    python3-vcstool \
    && rm -rf /var/lib/apt/lists/*

# bootstrap rosdep
RUN rosdep init && \
  rosdep update --rosdistro $ROS_DISTRO

COPY entrypoint.sh /tmp/entrypoint.sh
RUN chmod +x /tmp/entrypoint.sh
ENTRYPOINT "/tmp/entrypoint.sh"
# ENTRYPOINT echo "Hello world"      # Shell Form