Dockerfile

FROM pytorch/pytorch:2.0.1-cuda11.7-cudnn8-devel
# Arguments to build Docker Image using CUDA
ARG USE_CUDA=0
ARG TORCH_ARCH=
ARG DEBIAN_FRONTEND=noninteractive

ENV AM_I_DOCKER True
ENV BUILD_WITH_CUDA "${USE_CUDA}"
ENV TORCH_CUDA_ARCH_LIST "${TORCH_ARCH}"
ENV CUDA_HOME /usr/local/cuda-11.7/

RUN mkdir -p /home/appuser/Grounded-Segment-Anything
COPY . /home/appuser/Grounded-Segment-Anything/

RUN apt-get update && apt-get install --no-install-recommends wget ffmpeg=7:* \
    libsm6=2:* libxext6=2:* git=1:* nano \
    vim=2:* -y \
    && apt-get clean && apt-get autoremove && rm -rf /var/lib/apt/lists/*

WORKDIR /home/appuser/Grounded-Segment-Anything
RUN python -m pip install --no-cache-dir -e segment_anything && \
    python -m pip install --no-cache-dir -e GroundingDINO

# ROS Noetic Installation
RUN apt-get update && apt-get install -y curl lsb-release && \
    sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' && \
    curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - && \
    apt-get update && \
    apt-get install -y ros-noetic-desktop-full && \
    echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc && \
    apt-get install -y python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential && \
    apt-get install -y python3-rosdep && \
    rosdep init && \
    rosdep update

# Add ROS repositories for catkin_tools
RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' && \
    wget http://packages.ros.org/ros.key -O - | apt-key add - && \
    apt-get update && \
    apt-get install -y python3-catkin-tools

WORKDIR /home/appuser
RUN pip install --no-cache-dir diffusers[torch]==0.15.1 opencv-python==4.7.0.72 \
    pycocotools==2.0.6 matplotlib==3.5.3 \
    onnxruntime==1.14.1 onnx==1.13.1 ipykernel==6.16.2 scipy gradio openai

# Create catkin_ws under /home/appuser
RUN mkdir -p /home/appuser/catkin_ws/src && \
    cd /home/appuser/catkin_ws && \
    catkin init