changes to how we build base images, via lego bricks :)

docker/base/cuda_ros.Dockerfile → docker/base/inject_ros2.Dockerfile

@@ -1,15 +1,7 @@
-ARG UBUNTU_DISTRO
-ARG CUDA_VERSION
-
-####################### Nvidia CUDA Base Image #######################
-FROM nvidia/cuda:${CUDA_VERSION}-devel-${UBUNTU_DISTRO} as base
-
-# Save Environment Properties
-ENV CUDA_VERSION=${CUDA_VERSION}
-ENV UBUNTU_DISTRO=${UBUNTU_DISTRO}
+ARG GENERIC_IMAGE
 
 ########################## Install ROS2 Core ##########################
-FROM base as core
+FROM {GENERIC_IMAGE} as core
 
 # setup timezone
 RUN echo 'Etc/UTC' > /etc/timezone && \

docker/base/inject_tensorrt.Dockerfile

@@ -0,0 +1,17 @@
+ARG GENERIC_IMAGE
+ARG TENSORRT_PKG
+
+########################## Install TensorRT ##########################
+FROM {GENERIC_IMAGE} as core
+
+# List of TensorRT Packages (must login): 
+# https://developer.nvidia.com/tensorrt-download
+ENV PKG=${TENSORRT_PKG}
+
+RUN dpkg -i ${PKG}.deb && \
+    cp /var/${PKG%_*_*}/*-keyring.gpg /usr/share/keyrings/
+
+# Installs full runtime (lean runtimes also available: 
+# https://docs.nvidia.com/deeplearning/tensorrt/install-guide/index.html)
+RUN apt-get update && apt-get q -y --no-install-recommends \
+    tensorrt