CUDA + Theano + UR + Gym gazebo

Dockerfile

FROM ubuntu:14.04
LABEL maintainer "NVIDIA CORPORATION <[email protected]>"
LABEL com.nvidia.volumes.needed="nvidia_driver"
RUN NVIDIA_GPGKEY_SUM=d1be581509378368edeec8c1eb2958702feedf3bc3d17011adbf24efacce4ab5 && \
    NVIDIA_GPGKEY_FPR=ae09fe4bbd223a84b2ccfce3f60f4b3d7fa2af80 && \
    apt-key adv --fetch-keys http://developer.download.nvidia.com/compute/cuda/repos/ubuntu1404/x86_64/7fa2af80.pub && \
    apt-key adv --export --no-emit-version -a $NVIDIA_GPGKEY_FPR | tail -n +2 > cudasign.pub && \
    echo "$NVIDIA_GPGKEY_SUM  cudasign.pub" | sha256sum -c --strict - && rm cudasign.pub && \
    echo "deb http://developer.download.nvidia.com/compute/cuda/repos/ubuntu1404/x86_64 /" > /etc/apt/sources.list.d/cuda.list
ENV CUDA_VERSION 8.0.61
LABEL com.nvidia.cuda.version="${CUDA_VERSION}"
ENV CUDA_PKG_VERSION 8-0=$CUDA_VERSION-1
RUN apt-get update && apt-get install -y --no-install-recommends \
        cuda-nvrtc-$CUDA_PKG_VERSION \
        cuda-nvgraph-$CUDA_PKG_VERSION \
        cuda-cusolver-$CUDA_PKG_VERSION \
        cuda-cublas-$CUDA_PKG_VERSION \
        cuda-cufft-$CUDA_PKG_VERSION \
        cuda-curand-$CUDA_PKG_VERSION \
        cuda-cusparse-$CUDA_PKG_VERSION \
        cuda-npp-$CUDA_PKG_VERSION \
        cuda-cudart-$CUDA_PKG_VERSION && \
    ln -s cuda-8.0 /usr/local/cuda && \
    rm -rf /var/lib/apt/lists/*
RUN echo "/usr/local/cuda/lib64" >> /etc/ld.so.conf.d/cuda.conf && \
    ldconfig
RUN echo "/usr/local/nvidia/lib" >> /etc/ld.so.conf.d/nvidia.conf && \
    echo "/usr/local/nvidia/lib64" >> /etc/ld.so.conf.d/nvidia.conf
ENV PATH /usr/local/nvidia/bin:/usr/local/cuda/bin:${PATH}
ENV LD_LIBRARY_PATH /usr/local/nvidia/lib:/usr/local/nvidia/lib64

# Install git, wget, python-dev, pip, BLAS + LAPACK and other dependencies
RUN apt-get update && apt-get install -y \
  gfortran \
  git \
  wget \
  liblapack-dev \
  libopenblas-dev \
  python-dev \
  python-pip \
  python-nose \
  python-numpy \
  python-scipy

ENV DEBIAN_FRONTEND noninteractive

# upgrade pip
RUN pip install -U pip

RUN apt-get install -y lsb-release

# Set CUDA_ROOT
ENV CUDA_ROOT /usr/local/cuda/bin
# Install bleeding-edge Theano
RUN pip install --upgrade --no-deps git+git://github.com/Theano/Theano.git
RUN pip install --upgrade six
# Set up .theanorc for CUDA
RUN echo "[global]\ndevice=gpu\nfloatX=float32\noptimizer_including=cudnn\n[lib]\ncnmem=0.1\n[nvcc]\nfastmath=True" > /root/.theanorc

# Set universal robot
# using bash instead of sh to be able to source
RUN rm /bin/sh && ln -s /bin/bash /bin/sh

RUN apt-get update && \
    apt-get install -y wget && \
    echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list && \
    wget http://packages.ros.org/ros.key -O - | apt-key add - &&\    
    echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list && \
    wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add - && \
    apt-get update && \
    apt-get remove -y gazebo2 && \
    apt-get install -y ros-indigo-desktop && \
    apt-get install -y python-catkin-tools && \
    apt-get install -y gazebo7 && \
    apt-get install -y libgazebo7-dev && \
    mkdir -p /workspace/src && \
    cd /workspace/ && \
    source /opt/ros/indigo/setup.bash && \
    catkin init

COPY . /workspace/src/

ENV TERM xterm

RUN source /opt/ros/indigo/setup.bash && \
    cd /workspace/src && \
    git clone -b indigo-devel https://github.com/ros-simulation/gazebo_ros_pkgs.git && \
    cd /workspace/src && \
    mkdir -p /etc/ros/rosdep/sources.list.d/ && \
    wget https://raw.githubusercontent.com/osrf/osrf-rosdep/master/gazebo7/00-gazebo7.list -O /etc/ros/rosdep/sources.list.d/00-gazebo7.list && \
    rm -rf /etc/ros/rosdep && \
    rosdep init && \
    rosdep update && \
    rosdep install --default-yes --all --ignore-src && \
    catkin build

# installing gzweb
RUN curl -sL https://deb.nodesource.com/setup | bash - && \
    apt-get install -y libjansson-dev nodejs libboost-dev imagemagick libtinyxml-dev mercurial cmake build-essential xvfb

RUN /workspace/src/setup_gzweb.sh

RUN apt-get install -y byobu nano

# cleanup
RUN rm -rf /var/lib/apt/lists/*

# GYM GAZEBO
# Get the dependencies
RUN apt-get update \
    && apt-get install -y xorg-dev \
    libgl1-mesa-dev \
    xvfb \
    libxinerama1 \
    libxcursor1 \
    unzip \
    libglu1-mesa \
    libav-tools \
    python-numpy \
    python-scipy \
    python-pyglet \
    python-setuptools \
    libpq-dev \
    libjpeg-dev \
    wget \
    curl \
    cmake \
    git \
 && apt-get clean \
 && rm -rf /var/lib/apt/lists/* \
 && easy_install pip

WORKDIR /usr/local/gym

# Copy the code
RUN mkdir gym-gazebo 
COPY . /usr/local/gym/gym-gazebo

#--------------------
# Install gym
#--------------------
# Clone the official gym
RUN git clone https://github.com/openai/gym

# Install the gym's requirements
RUN pip install -r gym/requirements.txt

# Install the gym
RUN ls -l
RUN pip install -e gym/

# Checks
#RUN python --version
#RUN python -c "import gym"

# Debug
#RUN ls -l /usr/local/gym
#RUN ls -l /usr/local/gym/gym-gazebo
#RUN ls -l /usr/local/gym/gym

#--------------------
# Install ROS
#--------------------
# setup environment
RUN locale-gen en_US.UTF-8
ENV LANG en_US.UTF-8

# setup keys
RUN apt-key adv --keyserver ha.pool.sks-keyservers.net --recv-keys 421C365BD9FF1F717815A3895523BAEEB01FA116

# setup sources.list
RUN echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list

# install bootstrap tools
RUN apt-get update && apt-get install --no-install-recommends -y \
    python-rosdep \
    python-rosinstall \
    python-vcstools \
    && rm -rf /var/lib/apt/lists/*

# bootstrap rosdep
RUN rosdep init \
    && rosdep update

# install ros packages
ENV ROS_DISTRO indigo
RUN apt-get update && apt-get install -y \
    ros-indigo-ros-core=1.1.4-0* \
    && rm -rf /var/lib/apt/lists/*
#    ros-indigo-desktop-full

#--------------------
# Install Gazebo
#--------------------
RUN sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'

RUN wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

RUN sudo apt-get update
RUN sudo apt-get install gazebo7 libgazebo7-dev -y

# setup environment
EXPOSE 11345

# Install additional dependencies
RUN apt-get install -y ros-indigo-cv-bridge
RUN apt-get install -y ros-indigo-robot-state-publisher


#--------------------
# Install deep learning toolkits
#--------------------
# install dependencies
RUN sudo pip install h5py
RUN sudo apt-get install gfortran -y

# install sript specific dependencies (temporal)
RUN sudo apt-get install python-skimage -y

# install Keras
RUN sudo pip install keras

#--------------------
# Install gym-gazebo
#--------------------

RUN cd gym-gazebo && sudo pip install -e .

# install dependencies
RUN cd /usr/local/gym/gym-gazebo/gym_gazebo/envs/installation && bash setup.bash

# setup entrypoint
COPY ./entrypoint.sh /

ENTRYPOINT ["/entrypoint.sh"]
CMD ["bash"]

VOLUME /workspace

EXPOSE 8080 8081 7681