Dockerfile

FROM nvidia/cuda:11.3.1-devel-ubuntu20.04

RUN rm /etc/apt/sources.list.d/cuda.list
RUN rm /etc/apt/sources.list.d/nvidia-ml.list

RUN apt-get update && apt-get install wget -yq
RUN apt-get install build-essential g++ gcc -y
ENV DEBIAN_FRONTEND noninteractive
RUN apt-get install libgl1-mesa-glx libglib2.0-0 -y
RUN apt-get install openmpi-bin openmpi-common libopenmpi-dev libgtk2.0-dev git curl -y

# Install miniconda
ENV CONDA_DIR /opt/conda
RUN wget --quiet https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda.sh && \
     /bin/bash ~/miniconda.sh -b -p /opt/conda
# Put conda in path so we can use conda activate
ENV PATH=$CONDA_DIR/bin:$PATH
RUN conda install python=3.8
RUN conda install pytorch==1.10.1 torchvision==0.11.2 torchaudio==0.10.1 cudatoolkit=11.3 -c pytorch
RUN pip install Pillow==8.4.0
RUN pip install tqdm
RUN pip install torchpack
RUN pip install mmcv==1.4.0 mmcv-full==1.4.0 mmdet==2.20.0
RUN pip install nuscenes-devkit
RUN pip install mpi4py==3.0.3
RUN pip install numba==0.48.0
RUN python -c "$(curl -fsSL https://raw.githubusercontent.com/mit-han-lab/torchsparse/master/install.py)"
RUN pip install --upgrade numba
RUN pip install --upgrade git+https://github.com/klintan/pypcd.git
RUN pip install open3d

################
# add ros noetic
################
RUN pip install seaborn thop catkin_pkg empy rospkg
RUN apt-get update && apt-get install -y --no-install-recommends cmake gnupg2 lsb-release ca-certificates
RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
RUN apt-get update && apt-get install -y --no-install-recommends zip htop screen libgl1-mesa-glx libpython3-dev python3-rosdep python3-rosinstall python3-rosinstall-generator python3-vcstool ros-noetic-ros-base ros-noetic-multisense-ros ros-noetic-uuid-msgs ros-noetic-vision-msgs