Added Dockerfile.x86 for building a Docker image with CUDA and PyTorc…

…h support.

Added build.sh script for building the Docker image.
Added run.sh script for launching a container from the Docker image.
Modified turtlesim_example.launch to accept an argument for the RViz configuration file.
Modified turtlesim_init.launch to include the turtlebot3_gazebo launch file and spawn the turtlebot3 model.
Modified requirements.txt to comment out the cupy package.

docker/Dockerfile.x86

@@ -0,0 +1,46 @@
+FROM nvidia/cuda:11.6.2-cudnn8-devel-ubuntu20.04
+
+# Set noninteractive mode for apt-get
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Preconfigure tzdata
+RUN echo "Etc/UTC" > /etc/timezone && \
+    ln -fs /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
+    apt-get update && apt-get install -y tzdata && \
+    dpkg-reconfigure --frontend noninteractive tzdata
+
+# Install Python
+RUN apt-get update && apt-get install -y \
+    python3.8 \
+    python3-pip \
+    git
+
+# Install PyTorch
+RUN pip3 install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu118
+COPY requirements.txt /tmp/requirements.txt
+RUN pip3 install -r /tmp/requirements.txt
+
+# Install other Python packages
+RUN pip3 install cupy-cuda11x scikit-learn
+RUN pip3 install 'git+https://github.com/facebookresearch/detectron2.git'
+
+# Install ROS
+RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros-latest.list'
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-noetic-desktop-full
+
+# Install ROS packages
+RUN apt install -y ros-noetic-pybind11-catkin \
+    ros-noetic-grid-map-core ros-noetic-grid-map-msgs ros-noetic-grid-map-ros ros-noetic-grid-map-rviz-plugin \
+    libopencv-dev \
+    libeigen3-dev \
+    libgmp-dev \
+    libmpfr-dev \
+    libboost-all-dev \
+    ros-noetic-turtlebot3-gazebo ros-noetic-turtlebot3-teleop \
+    ros-noetic-ros-numpy
+
+RUN pip3 install catkin-tools
+ENV TURTLEBOT3_MODEL=waffle

docker/build.sh

@@ -0,0 +1,3 @@
+#! /bin/bash
+home=`realpath "$(dirname "$0")"/../`
+cd $home && sudo docker build -t elevation_mapping_cupy -f docker/Dockerfile.x86 --no-cache . 

docker/run.sh

@@ -0,0 +1,49 @@
+#!/bin/bash
+IMAGE_NAME="elevation_mapping_cupy:latest"
+
+# Define environment variables for enabling graphical output for the container.
+XSOCK=/tmp/.X11-unix
+XAUTH=/tmp/.docker.xauth
+if [ ! -f $XAUTH ]
+then
+    touch $XAUTH
+    xauth_list=$(xauth nlist :0 | sed -e 's/^..../ffff/')
+    xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
+    chmod a+r $XAUTH
+fi
+
+#==
+# Launch container
+#==
+
+# Create symlinks to user configs within the build context.
+mkdir -p .etc && cd .etc
+ln -sf /etc/passwd .
+ln -sf /etc/shadow .
+ln -sf /etc/group .
+cd ..
+
+# Launch a container from the prebuilt image.
+echo "---------------------"
+RUN_COMMAND="docker run \
+  --volume=$XSOCK:$XSOCK:rw \
+  --volume=$XAUTH:$XAUTH:rw \
+  --env="QT_X11_NO_MITSHM=1" \
+  --env="XAUTHORITY=$XAUTH" \
+  --env="DISPLAY=$DISPLAY" \
+  --ulimit rtprio=99 \
+  --cap-add=sys_nice \
+  --privileged \
+  --net=host \
+  -eHOST_USERNAME=$(whoami) \
+  -v$HOME:$HOME \
+  -v$(pwd)/.etc/shadow:/etc/shadow \
+  -v$(pwd)/.etc/passwd:/etc/passwd \
+  -v$(pwd)/.etc/group:/etc/group \
+  -v/media:/media \
+  --gpus all \
+  -it $IMAGE_NAME"
+echo -e "[run.sh]: \e[1;32mThe final run command is\n\e[0;35m$RUN_COMMAND\e[0m."
+$RUN_COMMAND
+echo -e "[run.sh]: \e[1;32mDocker terminal closed.\e[0m"
+#   --entrypoint=$ENTRYPOINT \

elevation_mapping_cupy/launch/turtlesim_example.launch

@@ -1,10 +1,11 @@
 <?xml version="1.0" encoding="utf-8"?>
 
 <launch>
+    <arg name="rviz_config" default="$(find elevation_mapping_cupy)/rviz/turtle_example.rviz"/>
 
     <!-- Launch elevation mapping turtle sim. -->
     <include file="$(find elevation_mapping_cupy)/launch/turtlesim_init.launch">
-        <arg name="rviz_config" value="$(find elevation_mapping_cupy)/rviz/turtle_example.rviz"/>
+        <arg name="rviz_config" value="$(arg rviz_config)"/>
     </include>
 
     <node pkg="elevation_mapping_cupy" type="elevation_mapping_node" name="elevation_mapping" output="screen">

elevation_mapping_cupy/launch/turtlesim_init.launch

@@ -1,16 +1,29 @@
 <launch>
     <arg name="use_sim_time" default="true"/>
     <arg name="rviz_config" default="$(find elevation_mapping_cupy)/rviz/turtle_semantic_example.rviz"/>
+    <arg name="model" default="waffle" doc="model type [burger, waffle, waffle_pi]"/>
+    <arg name="x_pos" default="-2.0"/>
+    <arg name="y_pos" default="-0.5"/>
+    <arg name="z_pos" default="0.0"/>
+
     <param name="/use_sim_time" type="bool" value="$(arg use_sim_time)"/>
 
+    <include file="$(find gazebo_ros)/launch/empty_world.launch">
+        <arg name="world_name" value="$(find turtlebot3_gazebo)/worlds/turtlebot3_world.world"/>
+        <arg name="paused" value="false"/>
+        <arg name="use_sim_time" value="true"/>
+        <arg name="gui" value="false"/>
+        <arg name="headless" value="false"/>
+        <arg name="debug" value="false"/>
+    </include>
+
+    <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />
 
-    <!-- Start gazebo simulation. -->
-    <include file="$(find turtlebot3_gazebo)/launch/turtlebot3_world.launch" />
+    <node pkg="gazebo_ros" type="spawn_model" name="spawn_urdf"  args="-urdf -model turtlebot3_$(arg model) -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -param robot_description" />
 
     <!-- Publish turtlebot3 tf's. -->
     <node pkg="robot_state_publisher" type="robot_state_publisher" name="waffle_state_publisher"/>
 
-
-   <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rviz_config)"/>
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rviz_config)"/>
 
 </launch>

requirements.txt

@@ -7,7 +7,7 @@ opencv-python
 simple-parsing
 scikit-image
 matplotlib
-cupy
+# cupy
 
 ###### Requirements with Version Specifiers ######`
 shapely==1.7.1