Test base image build

WATonomous · Jan 28, 2024 · 06193cf · 06193cf
1 parent 8fb2d31
commit 06193cf
Show file tree

Hide file tree

Showing 3 changed files with 33 additions and 0 deletions.
diff --git a/.github/include/base_image_config.json b/.github/include/base_image_config.json
@@ -61,6 +61,14 @@
             "ros2": "humble"
         }
     },
+    {
+        "tag": "cuda12.2-humble-tensorrt-ubuntu22.04",
+        "external_image": "nvcr.io/nvidia/tensorrt:23.09-py3",
+        "injections": {
+            "ros2": "humble",
+            "opencv": "4.5.4"
+        }
+    }
 
 
 

diff --git a/.github/workflows/build_base_images.yml b/.github/workflows/build_base_images.yml
@@ -98,6 +98,24 @@ jobs:
             GENERIC_IMAGE=${{ matrix.external_image }}
             ROS_DISTRO=${{ matrix.injections.ros2 }}
 
+      - name: Inject OpenCV into Image
+        if: ${{ matrix.injections.opencv != '' }}
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          file: docker/base/inject_opencv.Dockerfile
+          push: true
+          tags: |
+            ${{ steps.construct-registry-url.outputs.url }}_generic
+          cache-from: |
+            ${{ steps.construct-registry-url.outputs.url }}_generic
+          cache-to: type=inline
+          builder: ${{ steps.buildx.outputs.name }}
+          target: devel 
+          build-args: |
+            GENERIC_IMAGE=${{ matrix.external_image }}
+            OPENCV_VERSION=${{ matrix.injections.opencv }}
+
       - name: Prepare Generic Image as Monorepo Base Image
         uses: docker/build-push-action@v5
         with:

diff --git a/docker/base/inject_opencv.Dockerfile b/docker/base/inject_opencv.Dockerfile
@@ -0,0 +1,7 @@
+ARG GENERIC_IMAGE
+
+########################## Install ROS2 Core ##########################
+FROM ${GENERIC_IMAGE} as wato_base
+
+RUN sudo apt install -y libopencv-dev python3-opencv
+RUN export OpenCV_DIR=/usr/lib/x86_64-linux-gnu/cmake/opencv4/OpenCVConfig.cmake