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 protected]
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
ros2 | ros2-cuda | ros2-tensorrt | ros2-triton | ros2-torch | ros2-tf | ros2-ml
ros | ros-cuda | ros-tensorrt | ros-triton | ros-torch | ros-tf | ros-ml
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__}!")'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 Distribution | noetic, humble, iron, jazzy, rolling |
| ROS Components | core, base, desktop-full |
| ML Framework | NVIDIA CUDA, NVIDIA TensorRT, NVIDIA Triton Client, PyTorch, TensorFlow |
| 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.
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.
docker run --rm -it -e DOCKER_UID=$(id -u) -e DOCKER_GID=$(id -g) -e DOCKER_USER=$(id -un) rwthika/ros:latestThe password of the custom user is set to its username (dockeruser:dockeruser by default).
rwthika/ros2 (ROS 2)
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Tag Arch Ubuntu Python ROS ROS Package CMake CUDA cuDNN TensorRT Triton PyTorch TensorFlow humble-ros-coreamd64
arm6422.04.4 3.10.12 humble ros-core 3.22.1 - - - - - - latest,humble,humble-ros-baseamd64
arm6422.04.4 3.10.12 humble ros-base 3.22.1 - - - - - - humble-desktop-fullamd64
arm6422.04.4 3.10.12 humble desktop-full 3.22.1 - - - - - - iron-ros-coreamd64
arm6422.04.4 3.10.12 iron ros-core 3.22.1 - - - - - - iron,iron-ros-baseamd64
arm6422.04.4 3.10.12 iron ros-base 3.22.1 - - - - - - iron-desktop-fullamd64
arm6422.04.4 3.10.12 iron desktop-full 3.22.1 - - - - - - jazzy-ros-coreamd64
arm6424.04 3.12.3 jazzy ros-core 3.28.3 - - - - - - jazzy,jazzy-ros-baseamd64
arm6424.04 3.12.3 jazzy ros-base 3.28.3 - - - - - - jazzy-desktop-fullamd64
arm6424.04 3.12.3 jazzy desktop-full 3.28.3 - - - - - - rolling-ros-coreamd64
arm6424.04 3.12.3 rolling ros-core 3.28.3 - - - - - - rolling,rolling-ros-baseamd64
arm6424.04 3.12.3 rolling ros-base 3.28.3 - - - - - - rolling-desktop-fullamd64
arm6424.04 3.12.3 rolling desktop-full 3.28.3 - - - - - -
rwthika/ros2-cuda (ROS 2, NVIDIA CUDA)
Click to expand
Tag Arch Ubuntu Python ROS ROS Package CMake CUDA cuDNN TensorRT Triton PyTorch TensorFlow humble-ros-coreamd64
arm6422.04.3 3.10.12 humble ros-core 3.22.1 12.2.140 - - - - - latest,humble,humble-ros-baseamd64
arm6422.04.3 3.10.12 humble ros-base 3.22.1 12.2.140 - - - - - humble-desktop-fullamd64
arm6422.04.3 3.10.12 humble desktop-full 3.22.1 12.2.140 - - - - - iron-ros-coreamd64
arm6422.04.3 3.10.12 iron ros-core 3.22.1 12.2.140 - - - - - iron,iron-ros-baseamd64
arm6422.04.3 3.10.12 iron ros-base 3.22.1 12.2.140 - - - - - iron-desktop-fullamd64
arm6422.04.3 3.10.12 iron desktop-full 3.22.1 12.2.140 - - - - - jazzy-ros-coreamd64 24.04 3.12.3 jazzy ros-core 3.28.3 12.6.37 - - - - - jazzy,jazzy-ros-baseamd64 24.04 3.12.3 jazzy ros-base 3.28.3 12.6.37 - - - - - jazzy-desktop-fullamd64 24.04 3.12.3 jazzy desktop-full 3.28.3 12.6.37 - - - - - rolling-ros-coreamd64 24.04 3.12.3 rolling ros-core 3.28.3 12.6.37 - - - - - rolling,rolling-ros-baseamd64 24.04 3.12.3 rolling ros-base 3.28.3 12.6.37 - - - - - rolling-desktop-fullamd64 24.04 3.12.3 rolling desktop-full 3.28.3 12.6.37 - - - - -
rwthika/ros2-tensorrt (ROS 2, NVIDIA CUDA, NVIDIA TensorRT)
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Tag Arch Ubuntu Python ROS ROS Package CMake CUDA cuDNN TensorRT Triton PyTorch TensorFlow humble-ros-coreamd64
arm6422.04.3 3.10.12 humble ros-core 3.24.0
3.22.112.2.128
12.2.1408.9.5.27
8.9.4.258.6.1.6
8.6.2.3- - - latest,humble,humble-ros-baseamd64
arm6422.04.3 3.10.12 humble ros-base 3.24.0
3.22.112.2.128
12.2.1408.9.5.27
8.9.4.258.6.1.6
8.6.2.3- - - humble-desktop-fullamd64
arm6422.04.3 3.10.12 humble desktop-full 3.24.0
3.22.112.2.128
12.2.1408.9.5.27
8.9.4.258.6.1.6
8.6.2.3- - - iron-ros-coreamd64
arm6422.04.3 3.10.12 iron ros-core 3.24.0
3.22.112.2.128
12.2.1408.9.5.27
8.9.4.258.6.1.6
8.6.2.3- - - iron,iron-ros-baseamd64
arm6422.04.3 3.10.12 iron ros-base 3.24.0
3.22.112.2.128
12.2.1408.9.5.27
8.9.4.258.6.1.6
8.6.2.3- - - iron-desktop-fullamd64
arm6422.04.3 3.10.12 iron desktop-full 3.24.0
3.22.112.2.128
12.2.1408.9.5.27
8.9.4.258.6.1.6
8.6.2.3- - -
rwthika/ros2-triton (ROS 2, NVIDIA CUDA, NVIDIA Triton Client)
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Tag Arch Ubuntu Python ROS ROS Package CMake CUDA cuDNN TensorRT Triton PyTorch TensorFlow humble-ros-core-triton2.48.0amd64
arm6422.04.3 3.10.12 humble ros-core 3.22.1 12.2.140 - - 2.48.0 - - latest,humble,humble-ros-base-triton2.48.0amd64
arm6422.04.3 3.10.12 humble ros-base 3.22.1 12.2.140 - - 2.48.0 - - humble-desktop-full-triton2.48.0amd64
arm6422.04.3 3.10.12 humble desktop-full 3.22.1 12.2.140 - - 2.48.0 - - iron-ros-core-triton2.48.0amd64
arm6422.04.3 3.10.12 iron ros-core 3.22.1 12.2.140 - - 2.48.0 - - iron,iron-ros-base-triton2.48.0amd64
arm6422.04.3 3.10.12 iron ros-base 3.22.1 12.2.140 - - 2.48.0 - - iron-desktop-full-triton2.48.0amd64
arm6422.04.3 3.10.12 iron desktop-full 3.22.1 12.2.140 - - 2.48.0 - - jazzy-ros-core-triton2.48.0amd64 24.04 3.12.3 jazzy ros-core 3.28.3 12.6.37 - - 2.48.0 - - jazzy,jazzy-ros-base-triton2.48.0amd64 24.04 3.12.3 jazzy ros-base 3.28.3 12.6.37 - - 2.48.0 - - jazzy-desktop-full-triton2.48.0amd64 24.04 3.12.3 jazzy desktop-full 3.28.3 12.6.37 - - 2.48.0 - - rolling-ros-core-triton2.48.0amd64 24.04 3.12.3 rolling ros-core 3.28.3 12.6.37 - - 2.48.0 - - rolling,rolling-ros-base-triton2.48.0amd64 24.04 3.12.3 rolling ros-base 3.28.3 12.6.37 - - 2.48.0 - - rolling-desktop-full-triton2.48.0amd64 24.04 3.12.3 rolling desktop-full 3.28.3 12.6.37 - - 2.48.0 - -
rwthika/ros2-torch (ROS 2, NVIDIA CUDA, NVIDIA TensorRT, PyTorch)
Click to expand
Tag Arch Ubuntu Python ROS ROS Package CMake CUDA cuDNN TensorRT Triton PyTorch TensorFlow humble-ros-core-torch2.4.0amd64
arm6422.04.3 3.10.12 humble ros-core 3.24.0
3.22.112.2.128
12.2.1408.9.5.27
8.9.4.258.6.1.6
8.6.2.3- 2.3.0 - latest,humble,humble-ros-base-torch2.4.0amd64
arm6422.04.3 3.10.12 humble ros-base 3.24.0
3.22.112.2.128
12.2.1408.9.5.27
8.9.4.258.6.1.6
8.6.2.3- 2.3.0 - humble-desktop-full-torch2.4.0amd64
arm6422.04.3 3.10.12 humble desktop-full 3.24.0
3.22.112.2.128
12.2.1408.9.5.27
8.9.4.258.6.1.6
8.6.2.3- 2.3.0 - iron-ros-core-torch2.4.0amd64
arm6422.04.3 3.10.12 iron ros-core 3.24.0
3.22.112.2.128
12.2.1408.9.5.27
8.9.4.258.6.1.6
8.6.2.3- 2.3.0 - iron,iron-ros-base-torch2.4.0amd64
arm6422.04.3 3.10.12 iron ros-base 3.24.0
3.22.112.2.128
12.2.1408.9.5.27
8.9.4.258.6.1.6
8.6.2.3- 2.3.0 - iron-desktop-full-torch2.4.0amd64
arm6422.04.3 3.10.12 iron desktop-full 3.24.0
3.22.112.2.128
12.2.1408.9.5.27
8.9.4.258.6.1.6
8.6.2.3- 2.3.0 -
rwthika/ros2-tf (ROS 2, NVIDIA CUDA, NVIDIA TensorRT, TensorFlow)
Click to expand
Tag Arch Ubuntu Python ROS ROS Package CMake CUDA cuDNN TensorRT Triton PyTorch TensorFlow humble-ros-core-tf2.16.1amd64
arm6422.04.3 3.10.12 humble ros-core 3.24.0
3.22.112.2.128
12.2.1408.9.5.27
8.9.4.258.6.1.6
8.6.2.3- - 2.16.1 latest,humble,humble-ros-base-tf2.16.1amd64
arm6422.04.3 3.10.12 humble ros-base 3.24.0
3.22.112.2.128
12.2.1408.9.5.27
8.9.4.258.6.1.6
8.6.2.3- - 2.16.1 humble-desktop-full-tf2.16.1amd64
arm6422.04.3 3.10.12 humble desktop-full 3.24.0
3.22.112.2.128
12.2.1408.9.5.27
8.9.4.258.6.1.6
8.6.2.3- - 2.16.1 iron-ros-core-tf2.16.1amd64
arm6422.04.3 3.10.12 iron ros-core 3.24.0
3.22.112.2.128
12.2.1408.9.5.27
8.9.4.258.6.1.6
8.6.2.3- - 2.16.1 iron,iron-ros-base-tf2.16.1amd64
arm6422.04.3 3.10.12 iron ros-base 3.24.0
3.22.112.2.128
12.2.1408.9.5.27
8.9.4.258.6.1.6
8.6.2.3- - 2.16.1 iron-desktop-full-tf2.16.1amd64
arm6422.04.3 3.10.12 iron desktop-full 3.24.0
3.22.112.2.128
12.2.1408.9.5.27
8.9.4.258.6.1.6
8.6.2.3- - 2.16.1
rwthika/ros2-ml (ROS 2, NVIDIA CUDA, NVIDIA TensorRT, PyTorch, TensorFlow)
Click to expand
Tag Arch Ubuntu Python ROS ROS Package CMake CUDA cuDNN TensorRT Triton PyTorch TensorFlow humble-ros-core-tf2.16.1-torch2.4.0amd64
arm6422.04.3 3.10.12 humble ros-core 3.24.0
3.22.112.2.128
12.2.1408.9.5.27
8.9.4.258.6.1.6
8.6.2.3- 2.3.0 2.16.1 latest,humble,humble-ros-base-tf2.16.1-torch2.4.0amd64
arm6422.04.3 3.10.12 humble ros-base 3.24.0
3.22.112.2.128
12.2.1408.9.5.27
8.9.4.258.6.1.6
8.6.2.3- 2.3.0 2.16.1 humble-desktop-full-tf2.16.1-torch2.4.0amd64
arm6422.04.3 3.10.12 humble desktop-full 3.24.0
3.22.112.2.128
12.2.1408.9.5.27
8.9.4.258.6.1.6
8.6.2.3- 2.3.0 2.16.1 iron-ros-core-tf2.16.1-torch2.4.0amd64
arm6422.04.3 3.10.12 iron ros-core 3.24.0
3.22.112.2.128
12.2.1408.9.5.27
8.9.4.258.6.1.6
8.6.2.3- 2.3.0 2.16.1 iron,iron-ros-base-tf2.16.1-torch2.4.0amd64
arm6422.04.3 3.10.12 iron ros-base 3.24.0
3.22.112.2.128
12.2.1408.9.5.27
8.9.4.258.6.1.6
8.6.2.3- 2.3.0 2.16.1 iron-desktop-full-tf2.16.1-torch2.4.0amd64
arm6422.04.3 3.10.12 iron desktop-full 3.24.0
3.22.112.2.128
12.2.1408.9.5.27
8.9.4.258.6.1.6
8.6.2.3- 2.3.0 2.16.1
rwthika/ros (ROS)
Click to expand
Tag Arch Ubuntu Python ROS ROS Package CMake CUDA cuDNN TensorRT Triton PyTorch TensorFlow noetic-ros-coreamd64
arm6420.04.6 3.8.10 noetic ros-core 3.16.3 - - - - - - latest,noetic,noetic-ros-baseamd64
arm6420.04.6 3.8.10 noetic ros-base 3.16.3 - - - - - - noetic-desktop-fullamd64
arm6420.04.6 3.8.10 noetic desktop-full 3.16.3 - - - - - -
rwthika/ros-cuda (ROS, NVIDIA CUDA)
Click to expand
Tag Arch Ubuntu Python ROS ROS Package CMake CUDA cuDNN TensorRT Triton PyTorch TensorFlow noetic-ros-coreamd64
arm6420.04.6 3.8.10 noetic ros-core 3.16.3 11.4.148
11.4.298- - - - - latest,noetic,noetic-ros-baseamd64
arm6420.04.6 3.8.10 noetic ros-base 3.16.3 11.4.148
11.4.298- - - - - noetic-desktop-fullamd64
arm6420.04.6 3.8.10 noetic desktop-full 3.16.3 11.4.148
11.4.298- - - - -
rwthika/ros-tensorrt (ROS, NVIDIA CUDA, NVIDIA TensorRT)
Click to expand
Tag Arch Ubuntu Python ROS ROS Package CMake CUDA cuDNN TensorRT Triton PyTorch TensorFlow noetic-ros-coreamd64
arm6420.04.2
20.04.63.8.10 noetic ros-core 3.14.4
3.16.311.4.108
11.4.2988.2.2.26
8.6.0.1668.0.1
8.5.2- - - latest,noetic,noetic-ros-baseamd64
arm6420.04.2
20.04.63.8.10 noetic ros-base 3.14.4
3.16.311.4.108
11.4.2988.2.2.26
8.6.0.1668.0.1
8.5.2- - - noetic-desktop-fullamd64
arm6420.04.2
20.04.63.8.10 noetic desktop-full 3.14.4
3.16.311.4.108
11.4.2988.2.2.26
8.6.0.1668.0.1
8.5.2- - -
rwthika/ros-triton (ROS, NVIDIA CUDA, NVIDIA Triton Client)
Click to expand
Tag Arch Ubuntu Python ROS ROS Package CMake CUDA cuDNN TensorRT Triton PyTorch TensorFlow noetic-ros-core-triton2.48.0amd64
arm6420.04.6 3.8.10 noetic ros-core 3.16.3 11.4.148
11.4.298- - 2.48.0 - - latest,noetic,noetic-ros-base-triton2.48.0amd64
arm6420.04.6 3.8.10 noetic ros-base 3.16.3 11.4.148
11.4.298- - 2.48.0 - - noetic-desktop-full-triton2.48.0amd64
arm6420.04.6 3.8.10 noetic desktop-full 3.16.3 11.4.148
11.4.298- - 2.48.0 - -
rwthika/ros-torch (ROS, NVIDIA CUDA, NVIDIA TensorRT, PyTorch)
Click to expand
Tag Arch Ubuntu Python ROS ROS Package CMake CUDA cuDNN TensorRT Triton PyTorch TensorFlow noetic-ros-core-torch2.1.0amd64
arm6420.04.2
20.04.63.8.10 noetic ros-core 3.14.4
3.16.311.4.108
11.4.2988.2.2.26
8.6.0.1668.0.1
8.5.2- 2.1.0 - latest,noetic,noetic-ros-base-torch2.1.0amd64
arm6420.04.2
20.04.63.8.10 noetic ros-base 3.14.4
3.16.311.4.108
11.4.2988.2.2.26
8.6.0.1668.0.1
8.5.2- 2.1.0 - noetic-desktop-full-torch2.1.0amd64
arm6420.04.2
20.04.63.8.10 noetic desktop-full 3.14.4
3.16.311.4.108
11.4.2988.2.2.26
8.6.0.1668.0.1
8.5.2- 2.1.0 -
rwthika/ros-tf (ROS, NVIDIA CUDA, NVIDIA TensorRT, TensorFlow)
Click to expand
Tag Arch Ubuntu Python ROS ROS Package CMake CUDA cuDNN TensorRT Triton PyTorch TensorFlow noetic-ros-core-tf2.12.0amd64
arm6420.04.2
20.04.63.8.10 noetic ros-core 3.14.4
3.16.311.4.108
11.4.2988.2.2.26
8.6.0.1668.0.1
8.5.2- - 2.12.0 latest,noetic,noetic-ros-base-tf2.12.0amd64
arm6420.04.2
20.04.63.8.10 noetic ros-base 3.14.4
3.16.311.4.108
11.4.2988.2.2.26
8.6.0.1668.0.1
8.5.2- - 2.12.0 noetic-desktop-full-tf2.12.0amd64
arm6420.04.2
20.04.63.8.10 noetic desktop-full 3.14.4
3.16.311.4.108
11.4.2988.2.2.26
8.6.0.1668.0.1
8.5.2- - 2.12.0
rwthika/ros-ml (ROS, NVIDIA CUDA, NVIDIA TensorRT, PyTorch, TensorFlow)
Click to expand
Tag Arch Ubuntu Python ROS ROS Package CMake CUDA cuDNN TensorRT Triton PyTorch TensorFlow noetic-ros-core-tf2.12.0-torch2.1.0amd64
arm6420.04.2
20.04.63.8.10 noetic ros-core 3.14.4
3.16.311.4.108
11.4.2988.2.2.26
8.6.0.1668.0.1
8.5.2- 2.1.0 2.12.0 latest,noetic,noetic-ros-base-tf2.12.0-torch2.1.0amd64
arm6420.04.2
20.04.63.8.10 noetic ros-base 3.14.4
3.16.311.4.108
11.4.2988.2.2.26
8.6.0.1668.0.1
8.5.2- 2.1.0 2.12.0 noetic-desktop-full-tf2.12.0-torch2.1.0amd64
arm6420.04.2
20.04.63.8.10 noetic desktop-full 3.14.4
3.16.311.4.108
11.4.2988.2.2.26
8.6.0.1668.0.1
8.5.2- 2.1.0 2.12.0
docker buildx build \
--pull \
--platform $PLATFORM \
--build-arg BASE_IMAGE_TYPE=$BASE_IMAGE_TYPE \
--build-arg UBUNTU_VERSION=$UBUNTU_VERSION \
--build-arg ROS_VERSION=$ROS_VERSION \
--build-arg ROS_DISTRO=$ROS_DISTRO \
--build-arg ROS_PACKAGE=$ROS_PACKAGE \
--build-arg TORCH_VERSION=$TORCH_VERSION \
--build-arg TF_VERSION=$TF_VERSION \
--build-arg TRITON_VERSION=$TRITON_VERSION \
--tag $IMAGE .
