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docker-ros-ml-images

Machine Learning-Enabled ROS Docker Images

https://github.com/ika-rwth-aachen/docker-ros-ml-images

Science Score: 62.0%

This score indicates how likely this project is to be science-related based on various indicators:

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    CITATION.cff file
    Found CITATION.cff file
  • ✓
    codemeta.json file
    Found codemeta.json file
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    .zenodo.json file
    Found .zenodo.json file
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    DOI references
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    Academic publication links
  • ✓
    Committers with academic emails
    4 of 4 committers (100.0%) from academic institutions
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    Institutional organization owner
    Organization ika-rwth-aachen has institutional domain (www.ika.rwth-aachen.de)
  • ○
    JOSS paper metadata
  • ○
    Scientific vocabulary similarity
    Low similarity (8.7%) to scientific vocabulary

Keywords

docker pytorch ros ros2 tensorflow
Last synced: 6 months ago · JSON representation ·

Repository

Machine Learning-Enabled ROS Docker Images

Basic Info
  • Host: GitHub
  • Owner: ika-rwth-aachen
  • License: mit
  • Language: Dockerfile
  • Default Branch: main
  • Homepage:
  • Size: 260 KB
Statistics
  • Stars: 78
  • Watchers: 3
  • Forks: 12
  • Open Issues: 1
  • Releases: 8
Topics
docker pytorch ros ros2 tensorflow
Created almost 3 years ago · Last pushed 7 months ago
Metadata Files
Readme License Citation

README.md

docker-ros-ml-images – Machine Learning-Enabled ROS Docker Images


docker-ros-ml-images provides multi-arch machine learning-enabled ROS Docker images.

[!IMPORTANT]
This repository is open-sourced and maintained by the Institute for Automotive Engineering (ika) at RWTH Aachen University.
DevOps, Containerization and Orchestration of Software-Defined Vehicles are some of many research topics within our Vehicle Intelligence & Automated Driving domain.
If you would like to learn more about how we can support your advanced driver assistance and automated driving efforts, feel free to reach out to us!
:email: opensource@ika.rwth-aachen.de

We recommend to use docker-ros-ml-images in combination with our other tools for Docker and ROS. - docker-ros automatically builds minimal container images of ROS applications - docker-run is a CLI tool for simplified interaction with Docker images

Quick Links to Available Images

ros2 | ros2-cuda | ros2-tensorrt | ros2-triton | ros2-torch | ros2-tf | ros2-ml

Quick Start

bash docker run --rm rwthika/ros2-ml:humble \ python -c 'import os; import tensorflow as tf; import torch; e="ROS_DISTRO"; print(f"Hello from ROS {os.environ[e]}, PyTorch {torch.__version__}, and TensorFlow {tf.__version__}!")'

Variations

With docker-ros-ml-images, we provide a variety of lightweight multi-arch machine learning-enabled ROS Docker images. Starting with plain ROS images, we offer successively larger ROS base images that also come with NVIDIA CUDA, NVIDIA TensorRT, NVIDIA Triton Client, PyTorch and/or TensorFlow installations. Combining the components listed in the table below, we have built more than 100 multi-arch images and make them publicly available on DockerHub. In addition to the provided images, we also publish the generic Dockerfile used to flexibly build images combining the different components.

| Component | Variations | | ------------------ | ------------------------------------------------------------------------------------- | | ROS 2 Distribution | humble, jazzy, kilted, rolling | | ROS 2 Components | core, base, desktop-full | | ML Framework | NVIDIA CUDA, NVIDIA TensorRT, NVIDIA Triton Client, PyTorch, TensorFlow, ONNX Runtime | | Architecture | amd64, arm64 |

[!NOTE] All images are targeted at NVIDIA GPUs and therefore base off of official NVIDIA base images. The arm64 images, in particular, target NVIDIA Jetson SoCs and are based off of NVIDIA L4T base images. Ubuntu 22 images are provided with JetPack 6, Ubuntu 20 images with JetPack 5.

[!NOTE] Since robotic applications are often implemented in C++ instead of Python for performance reasons, previous releases of our images also shipped with the C++ APIs of PyTorch and TensorFlow. Installing the C++ libraries often involves cumbersome building from source, so we have decided to drop PyTorch/TensorFlow C++ support for more frequent releases. You may still find those images with ML C++ support under the 23.08 release.

Image Configuration

User Setup

Containers of the provided images start with root user by default. If the two environment variables DOCKER_UID and DOCKER_GID are passed, a new user with the corresponding UID/GID is created on the fly. Most importantly, this features allows to mount and edit files of the host user in the container without having to deal with permission issues.

bash docker run --rm -it -e DOCKER_UID=$(id -u) -e DOCKER_GID=$(id -g) -e DOCKER_USER=$(id -un) rwthika/ros2:latest

The password of the custom user is set to its username (dockeruser:dockeruser by default).

Available Images

ROS 2

rwthika/ros2 (ROS 2)

Click to expand | Tag | Arch | Ubuntu | Jetson Linux | Python | ROS | ROS Package | CMake | CUDA | cuDNN | TensorRT | Triton | PyTorch | TensorFlow | ONNX RT | | :---------------------------------- | :------------: | :-----: | :----------: | :-----: | :-----: | :----------: | :----: | :---: | :---: | :------: | :----: | :-----: | :--------: | :-----: | | `humble-ros-core` | amd64
arm64 | 22.04.5 | - | 3.10.12 | humble | ros-core | 3.22.1 | - | - | - | - | - | - | - | | `humble`, `humble-ros-base` | amd64
arm64 | 22.04.5 | - | 3.10.12 | humble | ros-base | 3.22.1 | - | - | - | - | - | - | - | | `humble-desktop-full` | amd64
arm64 | 22.04.5 | - | 3.10.12 | humble | desktop-full | 3.22.1 | - | - | - | - | - | - | - | | `jazzy-ros-core` | amd64
arm64 | 24.04.2 | - | 3.12.3 | jazzy | ros-core | 3.28.3 | - | - | - | - | - | - | - | | `latest`, `jazzy`, `jazzy-ros-base` | amd64
arm64 | 24.04.2 | - | 3.12.3 | jazzy | ros-base | 3.28.3 | - | - | - | - | - | - | - | | `jazzy-desktop-full` | amd64
arm64 | 24.04.2 | - | 3.12.3 | jazzy | desktop-full | 3.28.3 | - | - | - | - | - | - | - | | `kilted-ros-core` | amd64
arm64 | 24.04.2 | - | 3.12.3 | kilted | ros-core | 3.28.3 | - | - | - | - | - | - | - | | `kilted`, `kilted-ros-base` | amd64
arm64 | 24.04.2 | - | 3.12.3 | kilted | ros-base | 3.28.3 | - | - | - | - | - | - | - | | `kilted-desktop-full` | amd64
arm64 | 24.04.2 | - | 3.12.3 | kilted | desktop-full | 3.28.3 | - | - | - | - | - | - | - | | `rolling-ros-core` | amd64
arm64 | 24.04.2 | - | 3.12.3 | rolling | ros-core | 3.28.3 | - | - | - | - | - | - | - | | `rolling`, `rolling-ros-base` | amd64
arm64 | 24.04.2 | - | 3.12.3 | rolling | ros-base | 3.28.3 | - | - | - | - | - | - | - | | `rolling-desktop-full` | amd64
arm64 | 24.04.2 | - | 3.12.3 | rolling | desktop-full | 3.28.3 | - | - | - | - | - | - | - |

rwthika/ros2-cuda (ROS 2, NVIDIA CUDA)

Click to expand | Tag | Arch | Ubuntu | Jetson Linux | Python | ROS | ROS Package | CMake | CUDA | cuDNN | TensorRT | Triton | PyTorch | TensorFlow | ONNX RT | | :---------------------------------- | :------------: | :----------------: | :----------: | :---------------: | :-----: | :----------: | :--------------: | :-----: | :---: | :------: | :----: | :-----: | :--------: | :-----: | | `humble-ros-core` | amd64
arm64 | 22.04.4
22.04.3 | -
36.4.3 | 3.10.12 | humble | ros-core | 3.22.1 | 12.6.68 | - | - | - | - | - | - | | `humble`, `humble-ros-base` | amd64
arm64 | 22.04.4
22.04.3 | -
36.4.3 | 3.10.12 | humble | ros-base | 3.22.1 | 12.6.68 | - | - | - | - | - | - | | `humble-desktop-full` | amd64
arm64 | 22.04.4
22.04.3 | -
36.4.3 | 3.10.12 | humble | desktop-full | 3.22.1 | 12.6.68 | - | - | - | - | - | - | | `jazzy-ros-core` | amd64
arm64 | 24.04
22.04.3 | -
36.4.3 | 3.12.3
3.10.12 | jazzy | ros-core | 3.28.3
3.22.1 | 12.6.68 | - | - | - | - | - | - | | `latest`, `jazzy`, `jazzy-ros-base` | amd64
arm64 | 24.04
22.04.3 | -
36.4.3 | 3.12.3
3.10.12 | jazzy | ros-base | 3.28.3
3.22.1 | 12.6.68 | - | - | - | - | - | - | | `jazzy-desktop-full` | amd64
arm64 | 24.04
22.04.3 | -
36.4.3 | 3.12.3
3.10.12 | jazzy | desktop-full | 3.28.3
3.22.1 | 12.6.68 | - | - | - | - | - | - | | `kilted-ros-core` | amd64 | 24.04 | - | 3.12.3 | kilted | ros-core | 3.28.3 | 12.6.68 | - | - | - | - | - | - | | `kilted`, `kilted-ros-base` | amd64 | 24.04 | - | 3.12.3 | kilted | ros-base | 3.28.3 | 12.6.68 | - | - | - | - | - | - | | `kilted-desktop-full` | amd64 | 24.04 | - | 3.12.3 | kilted | desktop-full | 3.28.3 | 12.6.68 | - | - | - | - | - | - | | `rolling-ros-core` | amd64 | 24.04 | - | 3.12.3 | rolling | ros-core | 3.28.3 | 12.6.68 | - | - | - | - | - | - | | `rolling`, `rolling-ros-base` | amd64 | 24.04 | - | 3.12.3 | rolling | ros-base | 3.28.3 | 12.6.68 | - | - | - | - | - | - | | `rolling-desktop-full` | amd64 | 24.04 | - | 3.12.3 | rolling | desktop-full | 3.28.3 | 12.6.68 | - | - | - | - | - | - |

rwthika/ros2-tensorrt (ROS 2, NVIDIA CUDA, NVIDIA TensorRT)

Click to expand | Tag | Arch | Ubuntu | Jetson Linux | Python | ROS | ROS Package | CMake | CUDA | cuDNN | TensorRT | Triton | PyTorch | TensorFlow | ONNX RT | | :---------------------------------- | :------------: | :----------------: | :----------: | :---------------: | :-----: | :----------: | :--------------: | :----------------: | :------------------: | :--------------------: | :----: | :-----: | :--------: | :-----: | | `humble-ros-core` | amd64
arm64 | 22.04.4 | -
36.4.3 | 3.10.12 | humble | ros-core | 3.24.0
3.22.1 | 12.6.37
12.6.68 | 9.3.0.75 | 10.3.0.26 | - | - | - | - | | `humble`, `humble-ros-base` | amd64
arm64 | 22.04.4 | -
36.4.3 | 3.10.12 | humble | ros-base | 3.24.0
3.22.1 | 12.6.37
12.6.68 | 9.3.0.75 | 10.3.0.26 | - | - | - | - | | `humble-desktop-full` | amd64
arm64 | 22.04.4 | -
36.4.3 | 3.10.12 | humble | desktop-full | 3.24.0
3.22.1 | 12.6.37
12.6.68 | 9.3.0.75 | 10.3.0.26 | - | - | - | - | | `jazzy-ros-core` | amd64
arm64 | 24.04.1
22.04.4 | -
36.4.3 | 3.12.3
3.10.12 | jazzy | ros-core | 3.24.0
3.22.1 | 12.6.77
12.6.68 | 9.5.1.17
9.3.0.75 | 10.6.0.26
10.3.0.26 | - | - | - | - | | `latest`, `jazzy`, `jazzy-ros-base` | amd64
arm64 | 24.04.1
22.04.4 | -
36.4.3 | 3.12.3
3.10.12 | jazzy | ros-base | 3.24.0
3.22.1 | 12.6.77
12.6.68 | 9.5.1.17
9.3.0.75 | 10.6.0.26
10.3.0.26 | - | - | - | - | | `jazzy-desktop-full` | amd64
arm64 | 24.04.1
22.04.4 | -
36.4.3 | 3.12.3
3.10.12 | jazzy | desktop-full | 3.24.0
3.22.1 | 12.6.77
12.6.68 | 9.5.1.17
9.3.0.75 | 10.6.0.26
10.3.0.26 | - | - | - | - | | `kilted-ros-core` | amd64 | 24.04.1 | - | 3.12.3 | kilted | ros-core | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | - | - | - | - | | `kilted`, `kilted-ros-base` | amd64 | 24.04.1 | - | 3.12.3 | kilted | ros-base | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | - | - | - | - | | `kilted-desktop-full` | amd64 | 24.04.1 | - | 3.12.3 | kilted | desktop-full | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | - | - | - | - | | `rolling-ros-core` | amd64 | 24.04.1 | - | 3.12.3 | rolling | ros-core | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | - | - | - | - | | `rolling`, `rolling-ros-base` | amd64 | 24.04.1 | - | 3.12.3 | rolling | ros-base | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | - | - | - | - | | `rolling-desktop-full` | amd64 | 24.04.1 | - | 3.12.3 | rolling | desktop-full | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | - | - | - | - |

rwthika/ros2-triton (ROS 2, NVIDIA CUDA, NVIDIA Triton Client)

Click to expand | Tag | Arch | Ubuntu | Jetson Linux | Python | ROS | ROS Package | CMake | CUDA | cuDNN | TensorRT | Triton | PyTorch | TensorFlow | ONNX RT | | :----------------------------------------------- | :------------: | :-----: | :----------: | :-----: | :-----: | :----------: | :----: | :---: | :---: | :------: | :----: | :-----: | :--------: | :-----: | | `humble-ros-core-triton2.52.0` | amd64
arm64 | 22.04.5 | - | 3.10.12 | humble | ros-core | 3.22.1 | - | - | - | 2.52.0 | - | - | - | | `humble`, `humble-ros-base-triton2.52.0` | amd64
arm64 | 22.04.5 | - | 3.10.12 | humble | ros-base | 3.22.1 | - | - | - | 2.52.0 | - | - | - | | `humble-desktop-full-triton2.52.0` | amd64
arm64 | 22.04.5 | - | 3.10.12 | humble | desktop-full | 3.22.1 | - | - | - | 2.52.0 | - | - | - | | `jazzy-ros-core-triton2.52.0` | amd64
arm64 | 24.04.2 | - | 3.12.3 | jazzy | ros-core | 3.28.3 | - | - | - | 2.52.0 | - | - | - | | `latest`, `jazzy`, `jazzy-ros-base-triton2.52.0` | amd64
arm64 | 24.04.2 | - | 3.12.3 | jazzy | ros-base | 3.28.3 | - | - | - | 2.52.0 | - | - | - | | `jazzy-desktop-full-triton2.52.0` | amd64
arm64 | 24.04.2 | - | 3.12.3 | jazzy | desktop-full | 3.28.3 | - | - | - | 2.52.0 | - | - | - | | `kilted-ros-core-triton2.52.0` | amd64
arm64 | 24.04.2 | - | 3.12.3 | kilted | ros-core | 3.28.3 | - | - | - | 2.52.0 | - | - | - | | `kilted`, `kilted-ros-base-triton2.52.0` | amd64
arm64 | 24.04.2 | - | 3.12.3 | kilted | ros-base | 3.28.3 | - | - | - | 2.52.0 | - | - | - | | `kilted-desktop-full-triton2.52.0` | amd64
arm64 | 24.04.2 | - | 3.12.3 | kilted | desktop-full | 3.28.3 | - | - | - | 2.52.0 | - | - | - | | `rolling-ros-core-triton2.52.0` | amd64
arm64 | 24.04.2 | - | 3.12.3 | rolling | ros-core | 3.28.3 | - | - | - | 2.52.0 | - | - | - | | `rolling`, `rolling-ros-base-triton2.52.0` | amd64
arm64 | 24.04.2 | - | 3.12.3 | rolling | ros-base | 3.28.3 | - | - | - | 2.52.0 | - | - | - | | `rolling-desktop-full-triton2.52.0` | amd64
arm64 | 24.04.2 | - | 3.12.3 | rolling | desktop-full | 3.28.3 | - | - | - | 2.52.0 | - | - | - |

rwthika/ros2-torch (ROS 2, NVIDIA CUDA, NVIDIA TensorRT, PyTorch)

Click to expand | Tag | Arch | Ubuntu | Jetson Linux | Python | ROS | ROS Package | CMake | CUDA | cuDNN | TensorRT | Triton | PyTorch | TensorFlow | ONNX RT | | :--------------------------------------------- | :------------: | :----------------: | :----------: | :---------------: | :-----: | :----------: | :--------------: | :----------------: | :------------------: | :--------------------: | :----: | :-----: | :--------: | :-----: | | `humble-ros-core-torch2.5.0` | amd64
arm64 | 22.04.4 | -
36.4.3 | 3.10.12 | humble | ros-core | 3.24.0
3.22.1 | 12.6.37
12.6.68 | 9.3.0.75 | 10.3.0.26 | - | 2.5.0
2.8.0 | - | - | | `humble`, `humble-ros-base-torch2.5.0` | amd64
arm64 | 22.04.4 | -
36.4.3 | 3.10.12 | humble | ros-base | 3.24.0
3.22.1 | 12.6.37
12.6.68 | 9.3.0.75 | 10.3.0.26 | - | 2.5.0
2.8.0 | - | - | | `humble-desktop-full-torch2.5.0` | amd64
arm64 | 22.04.4 | -
36.4.3 | 3.10.12 | humble | desktop-full | 3.24.0
3.22.1 | 12.6.37
12.6.68 | 9.3.0.75 | 10.3.0.26 | - | 2.5.0
2.8.0 | - | - | | `jazzy-ros-core-torch2.5.0` | amd64
arm64 | 24.04.1
22.04.4 | -
36.4.3 | 3.12.3
3.10.12 | jazzy | ros-core | 3.24.0
3.22.1 | 12.6.77
12.6.68 | 9.5.1.17
9.3.0.75 | 10.6.0.26
10.3.0.26 | - | 2.5.0
2.8.0 | - | - | | `latest`, `jazzy`, `jazzy-ros-base-torch2.5.0` | amd64
arm64 | 24.04.1
22.04.4 | -
36.4.3 | 3.12.3
3.10.12 | jazzy | ros-base | 3.24.0
3.22.1 | 12.6.77
12.6.68 | 9.5.1.17
9.3.0.75 | 10.6.0.26
10.3.0.26 | - | 2.5.0
2.8.0 | - | - | | `jazzy-desktop-full-torch2.5.0` | amd64
arm64 | 24.04.1
22.04.4 | -
36.4.3 | 3.12.3
3.10.12 | jazzy | desktop-full | 3.24.0
3.22.1 | 12.6.77
12.6.68 | 9.5.1.17
9.3.0.75 | 10.6.0.26
10.3.0.26 | - | 2.5.0
2.8.0 | - | - | | `kilted-ros-core-torch2.5.0` | amd64 | 24.04.1 | - | 3.12.3 | kilted | ros-core | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | - | 2.5.0 | - | - | | `kilted`, `kilted-ros-base-torch2.5.0` | amd64 | 24.04.1 | - | 3.12.3 | kilted | ros-base | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | - | 2.5.0 | - | - | | `kilted-desktop-full-torch2.5.0` | amd64 | 24.04.1 | - | 3.12.3 | kilted | desktop-full | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | - | 2.5.0 | - | - | | `rolling-ros-core-torch2.5.0` | amd64 | 24.04.1 | - | 3.12.3 | rolling | ros-core | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | - | 2.5.0 | - | - | | `rolling`, `rolling-ros-base-torch2.5.0` | amd64 | 24.04.1 | - | 3.12.3 | rolling | ros-base | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | - | 2.5.0 | - | - | | `rolling-desktop-full-torch2.5.0` | amd64 | 24.04.1 | - | 3.12.3 | rolling | desktop-full | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | - | 2.5.0 | - | - |

rwthika/ros2-tf (ROS 2, NVIDIA CUDA, NVIDIA TensorRT, TensorFlow)

Click to expand | Tag | Arch | Ubuntu | Jetson Linux | Python | ROS | ROS Package | CMake | CUDA | cuDNN | TensorRT | Triton | PyTorch | TensorFlow | ONNX RT | | :------------------------------------------- | :------------: | :----------------: | :----------: | :---------------: | :-----: | :----------: | :--------------: | :----------------: | :------------------: | :--------------------: | :----: | :-----: | :--------------: | :-----: | | `humble-ros-core-tf2.18.0` | amd64
arm64 | 22.04.4 | -
36.4.3 | 3.10.12 | humble | ros-core | 3.24.0
3.22.1 | 12.6.37
12.6.68 | 9.3.0.75 | 10.3.0.26 | - | - | 2.18.0
2.16.1 | - | | `humble`, `humble-ros-base-tf2.18.0` | amd64
arm64 | 22.04.4 | -
36.4.3 | 3.10.12 | humble | ros-base | 3.24.0
3.22.1 | 12.6.37
12.6.68 | 9.3.0.75 | 10.3.0.26 | - | - | 2.18.0
2.16.1 | - | | `humble-desktop-full-tf2.18.0` | amd64
arm64 | 22.04.4 | -
36.4.3 | 3.10.12 | humble | desktop-full | 3.24.0
3.22.1 | 12.6.37
12.6.68 | 9.3.0.75 | 10.3.0.26 | - | - | 2.18.0
2.16.1 | - | | `jazzy-ros-core-tf2.18.0` | amd64
arm64 | 24.04.1
22.04.4 | -
36.4.3 | 3.12.3
3.10.12 | jazzy | ros-core | 3.24.0
3.22.1 | 12.6.77
12.6.68 | 9.5.1.17
9.3.0.75 | 10.6.0.26
10.3.0.26 | - | - | 2.18.0
2.16.1 | - | | `latest`, `jazzy`, `jazzy-ros-base-tf2.18.0` | amd64
arm64 | 24.04.1
22.04.4 | -
36.4.3 | 3.12.3
3.10.12 | jazzy | ros-base | 3.24.0
3.22.1 | 12.6.77
12.6.68 | 9.5.1.17
9.3.0.75 | 10.6.0.26
10.3.0.26 | - | - | 2.18.0
2.16.1 | - | | `jazzy-desktop-full-tf2.18.0` | amd64
arm64 | 24.04.1
22.04.4 | -
36.4.3 | 3.12.3
3.10.12 | jazzy | desktop-full | 3.24.0
3.22.1 | 12.6.77
12.6.68 | 9.5.1.17
9.3.0.75 | 10.6.0.26
10.3.0.26 | - | - | 2.18.0
2.16.1 | - | | `kilted-ros-core-tf2.18.0` | amd64 | 24.04.1 | - | 3.12.3 | kilted | ros-core | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | - | - | 2.18.0 | - | | `kilted`, `kilted-ros-base-tf2.18.0` | amd64 | 24.04.1 | - | 3.12.3 | kilted | ros-base | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | - | - | 2.18.0 | - | | `kilted-desktop-full-tf2.18.0` | amd64 | 24.04.1 | - | 3.12.3 | kilted | desktop-full | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | - | - | 2.18.0 | - | | `rolling-ros-core-tf2.18.0` | amd64 | 24.04.1 | - | 3.12.3 | rolling | ros-core | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | - | - | 2.18.0 | - | | `rolling`, `rolling-ros-base-tf2.18.0` | amd64 | 24.04.1 | - | 3.12.3 | rolling | ros-base | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | - | - | 2.18.0 | - | | `rolling-desktop-full-tf2.18.0` | amd64 | 24.04.1 | - | 3.12.3 | rolling | desktop-full | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | - | - | 2.18.0 | - |

rwthika/ros2-ml (ROS 2, NVIDIA CUDA, NVIDIA TensorRT, PyTorch, TensorFlow)

Click to expand | Tag | Arch | Ubuntu | Jetson Linux | Python | ROS | ROS Package | CMake | CUDA | cuDNN | TensorRT | Triton | PyTorch | TensorFlow | ONNX RT | | :------------------------------------------------------ | :------------: | :----------------: | :----------: | :---------------: | :-----: | :----------: | :--------------: | :----------------: | :------------------: | :--------------------: | :----: | :-----: | :---------: | :---------: | | `humble-ros-core-tf2.18.0-torch2.5.0` | amd64
arm64 | 22.04.4 | -
36.4.3 | 3.10.12 | humble | ros-core | 3.24.0
3.22.1 | 12.6.37
12.6.68 | 9.3.0.75 | 10.3.0.26 | 2.52.0 | 2.5.0
2.8.0 | 2.18.0
- | 1.20.1
- | | `humble`, `humble-ros-base-tf2.18.0-torch2.5.0` | amd64
arm64 | 22.04.4 | -
36.4.3 | 3.10.12 | humble | ros-base | 3.24.0
3.22.1 | 12.6.37
12.6.68 | 9.3.0.75 | 10.3.0.26 | 2.52.0 | 2.5.0
2.8.0 | 2.18.0
- | 1.20.1
- | | `humble-desktop-full-tf2.18.0-torch2.5.0` | amd64
arm64 | 22.04.4 | -
36.4.3 | 3.10.12 | humble | desktop-full | 3.24.0
3.22.1 | 12.6.37
12.6.68 | 9.3.0.75 | 10.3.0.26 | 2.52.0 | 2.5.0
2.8.0 | 2.18.0
- | 1.20.1
- | | `jazzy-ros-core-tf2.18.0-torch2.5.0` | amd64
arm64 | 24.04.1
22.04.4 | -
36.4.3 | 3.12.3
3.10.12 | jazzy | ros-core | 3.24.0
3.22.1 | 12.6.77
12.6.68 | 9.5.1.17
9.3.0.75 | 10.6.0.26
10.3.0.26 | 2.52.0 | 2.5.0
2.8.0 | 2.18.0
- | 1.20.1
- | | `latest`, `jazzy`, `jazzy-ros-base-tf2.18.0-torch2.5.0` | amd64
arm64 | 24.04.1
22.04.4 | -
36.4.3 | 3.12.3
3.10.12 | jazzy | ros-base | 3.24.0
3.22.1 | 12.6.77
12.6.68 | 9.5.1.17
9.3.0.75 | 10.6.0.26
10.3.0.26 | 2.52.0 | 2.5.0
2.8.0 | 2.18.0
- | 1.20.1
- | | `jazzy-desktop-full-tf2.18.0-torch2.5.0` | amd64
arm64 | 24.04.1
22.04.4 | -
36.4.3 | 3.12.3
3.10.12 | jazzy | desktop-full | 3.24.0
3.22.1 | 12.6.77
12.6.68 | 9.5.1.17
9.3.0.75 | 10.6.0.26
10.3.0.26 | 2.52.0 | 2.5.0
2.8.0 | 2.18.0
- | 1.20.1
- | | `kilted-ros-core-tf2.18.0-torch2.5.0` | amd64 | 24.04.1 | - | 3.12.3 | kilted | ros-core | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | 2.52.0 | 2.5.0 | 2.18.0 | 1.20.1 | | `kilted`, `kilted-ros-base-tf2.18.0-torch2.5.0` | amd64 | 24.04.1 | - | 3.12.3 | kilted | ros-base | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | 2.52.0 | 2.5.0 | 2.18.0 | 1.20.1 | | `kilted-desktop-full-tf2.18.0-torch2.5.0` | amd64 | 24.04.1 | - | 3.12.3 | kilted | desktop-full | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | 2.52.0 | 2.5.0 | 2.18.0 | 1.20.1 | | `rolling-ros-core-tf2.18.0-torch2.5.0` | amd64 | 24.04.1 | - | 3.12.3 | rolling | ros-core | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | 2.52.0 | 2.5.0 | 2.18.0 | 1.20.1 | | `rolling`, `rolling-ros-base-tf2.18.0-torch2.5.0` | amd64 | 24.04.1 | - | 3.12.3 | rolling | ros-base | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | 2.52.0 | 2.5.0 | 2.18.0 | 1.20.1 | | `rolling-desktop-full-tf2.18.0-torch2.5.0` | amd64 | 24.04.1 | - | 3.12.3 | rolling | desktop-full | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | 2.52.0 | 2.5.0 | 2.18.0 | 1.20.1 |

ROS

[!NOTE] As of May 2025, ROS (1) has gone end-of-life. The last release of docker-ros-ml-images to include ROS Noetic images is release 25.02. These images will remain available.

Manual Build

docker buildx build \ --pull \ --platform $PLATFORM \ --build-arg IMAGE_VERSION=$CI_COMMIT_TAG \ --build-arg BASE_IMAGE_TYPE=$BASE_IMAGE_TYPE \ --build-arg UBUNTU_VERSION=$UBUNTU_VERSION \ --build-arg ROS_DISTRO=$ROS_DISTRO \ --build-arg ROS_PACKAGE=$ROS_PACKAGE \ --build-arg ROS_BUILD_FROM_SRC=$ROS_BUILD_FROM_SRC \ --build-arg TORCH_VERSION=$TORCH_VERSION \ --build-arg TF_VERSION=$TF_VERSION \ --build-arg ONNX_RUNTIME_VERSION=$ONNX_RUNTIME_VERSION \ --build-arg TRITON_VERSION=$TRITON_VERSION \ --tag $IMAGE .

Owner

  • Name: Institut für Kraftfahrzeuge, RWTH Aachen, ika
  • Login: ika-rwth-aachen
  • Kind: organization
  • Location: Aachen, Germany

Citation (CITATION.cff) 

cff-version: 1.2.0
message: "We hope that our tools can help your research. If this is the case, please cite it using the following metadata."

title: dorotos
type: software
repository-code: "https://github.com/ika-rwth-aachen/docker-ros-ml-images"
date-released: 2023-05-28
authors:
  - given-names: Jean-Pierre
    family-names: Busch
  - given-names: Lennart
    family-names: Reiher

preferred-citation:
  title: "Enabling the Deployment of Any-Scale Robotic Applications in Microservice-Based Service-Oriented Architectures through Automated Containerization"
  type: conference-paper
  conference:
    name: "2024 IEEE International Conference on Robotics and Automation (ICRA)"
  year: 2024
  pages: "17650-17656"
  doi: "10.1109/ICRA57147.2024.10611586"
  url: "https://ieeexplore.ieee.org/document/10611586"
  authors:
    - given-names: Jean-Pierre
      family-names: Busch
      orcid: "https://orcid.org/0009-0000-1417-0463"
    - given-names: Lennart
      family-names: Reiher
      orcid: "https://orcid.org/0000-0002-7309-164X"
    - given-names: Lutz
      family-names: Eckstein

GitHub Events

Total
  • Create event: 16
  • Issues event: 10
  • Release event: 4
  • Watch event: 24
  • Delete event: 11
  • Issue comment event: 21
  • Push event: 27
  • Pull request review comment event: 17
  • Pull request review event: 29
  • Pull request event: 23
  • Fork event: 3
Last Year
  • Create event: 16
  • Issues event: 10
  • Release event: 4
  • Watch event: 24
  • Delete event: 11
  • Issue comment event: 21
  • Push event: 27
  • Pull request review comment event: 17
  • Pull request review event: 29
  • Pull request event: 23
  • Fork event: 3

Committers

Last synced: 8 months ago

All Time
  • Total Commits: 290
  • Total Committers: 4
  • Avg Commits per committer: 72.5
  • Development Distribution Score (DDS): 0.448
Past Year
  • Commits: 164
  • Committers: 4
  • Avg Commits per committer: 41.0
  • Development Distribution Score (DDS): 0.494
Top Committers
Name Email Commits
Lennart Reiher l****r@i****e 160
Jean-Pierre Busch j****h@i****e 127
Bastian Lampe b****e@r****e 2
sysadmin-fbfi s****i@i****e 1
Committer Domains (Top 20 + Academic)
ika.rwth-aachen.de: 2 i2300016.ika.rwth-aachen.de: 1 rwth-aachen.de: 1

Issues and Pull Requests

Last synced: 6 months ago

All Time
  • Total issues: 9
  • Total pull requests: 27
  • Average time to close issues: 21 days
  • Average time to close pull requests: 3 days
  • Total issue authors: 7
  • Total pull request authors: 3
  • Average comments per issue: 2.22
  • Average comments per pull request: 0.41
  • Merged pull requests: 25
  • Bot issues: 0
  • Bot pull requests: 0
Past Year
  • Issues: 7
  • Pull requests: 21
  • Average time to close issues: 4 days
  • Average time to close pull requests: 3 days
  • Issue authors: 7
  • Pull request authors: 3
  • Average comments per issue: 1.86
  • Average comments per pull request: 0.48
  • Merged pull requests: 19
  • Bot issues: 0
  • Bot pull requests: 0
View more stats
Top Authors
Issue Authors
  • tiesus (3)
  • blooop (1)
  • snknitheesh (1)
  • BaderTim (1)
  • antun (1)
  • lreiher (1)
  • caleb-kinisi (1)
Pull Request Authors
  • lreiher (24)
  • jpbusch (10)
  • bastilam (2)
Top Labels
Issue Labels
Pull Request Labels

Dependencies

Dockerfile docker
  • "base${BUILD_VERSION}" latest build
  • "ros${BUILD_VERSION}" latest build
  • dependencies latest build
  • ros latest build
  • rwthika/cuda ${CUDA_VERSION}-cudnn-trt-ubuntu${UBUNTU_VERSION} build
  • ubuntu ${UBUNTU_VERSION} build
cuda/Dockerfile docker
  • "base-${TARGETARCH}-${UBUNTU_VERSION}" latest build
  • nvcr.io/nvidia/l4t-base 35.4.1 build
  • ubuntu 20.04 build
  • ubuntu 22.04 build