RSDK-5976 - Fix GLIBC compatibility issue on jetson devices (#14)

* Change jetson base container to l4t * Add l4t base dockerfile * Fix new line
viam-modules · Dec 6, 2023 · 24be0ab · 24be0ab
1 parent ebc68a4
commit 24be0ab
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Showing 6 changed files with 124 additions and 14 deletions.
diff --git a/.github/workflows/deploy.yml b/.github/workflows/deploy.yml
@@ -9,10 +9,10 @@ jobs:
     strategy:
      matrix:
         include:
-          - container: ghcr.io/seanavery/viam-cpp-base:0.0.2
+          - container: ghcr.io/seanavery/viam-cpp-base-jetson:0.0.3
             TARGET: jetson
             META_PATH: meta.json
-          - container: ghcr.io/seanavery/viam-cpp-base-pi:0.0.2
+          - container: ghcr.io/seanavery/viam-cpp-base-pi:0.0.3
             TARGET: pi
             META_PATH: meta-pi.json
     container:

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -15,10 +15,10 @@ jobs:
     strategy:
       matrix:
         include:
-          - container: ghcr.io/seanavery/viam-cpp-base:0.0.2
+          - container: ghcr.io/seanavery/viam-cpp-base-jetson:0.0.3
             TARGET: jetson
             META_PATH: meta.json
-          - container: ghcr.io/seanavery/viam-cpp-base-pi:0.0.2
+          - container: ghcr.io/seanavery/viam-cpp-base-pi:0.0.3
             TARGET: pi
             META_PATH: meta-pi.json
     container:

diff --git a/.github/workflows/request.yml b/.github/workflows/request.yml
@@ -15,9 +15,9 @@ jobs:
     strategy:
       matrix:
         include:
-          - container: ghcr.io/seanavery/viam-cpp-base:0.0.2
+          - container: ghcr.io/seanavery/viam-cpp-base-jetson:0.0.3
             TARGET: jetson
-          - container: ghcr.io/seanavery/viam-cpp-base-pi:0.0.2
+          - container: ghcr.io/seanavery/viam-cpp-base-pi:0.0.3
             TARGET: pi
     container:
       image: ${{ matrix.container }}

diff --git a/Makefile b/Makefile
@@ -7,8 +7,8 @@ BIN_DIR := ./bin
 HUB_USER := seanavery
 TEST_NAME := viam-csi-test
 DOCK_TAG := 0.0.1 # tag for mod/test images
-BASE_TAG := 0.0.2
-L4T_TAG := 35.3.1
+BASE_TAG := 0.0.3
+L4T_TAG := 35.4.1
 
 # Package
 PACK_NAME := viam-csi
@@ -18,8 +18,8 @@ PACK_TAG := latest
 TARGET ?= pi # [jetson,pi]
 ifeq ($(TARGET), jetson)
 	TEST_BASE=nvcr.io/nvidia/l4t-base:$(L4T_TAG)
-	BASE_NAME=viam-cpp-base
-	BASE_CONFIG=./etc/Dockerfile.base
+	BASE_NAME=viam-cpp-base-jetson
+	BASE_CONFIG=./etc/Dockerfile.base.l4t
 	MOD_NAME=viam-csi-module-jetson
 	MOD_CONFIG=./etc/Dockerfile.mod
 	RECIPE=./viam-csi-jetson-arm64.yml
@@ -120,10 +120,10 @@ image-test:
 
 # Copies binary and appimage from container to host.
 bin-mod:
-	rm -rf $(BIN_DIR) | true && \
+	rm -rf $(BIN_DIR) || true && \
 	mkdir -p $(BIN_DIR) && \
-	docker stop viam-csi-bin | true && \
-	docker rm viam-csi-bin | true && \
+	docker stop viam-csi-bin || true && \
+	docker rm viam-csi-bin || true && \
 	docker run -d -it --name viam-csi-bin $(MOD_NAME):$(DOCK_TAG) && \
 	docker cp viam-csi-bin:/root/opt/src/csi-camera/build/viam-csi ./$(BIN_DIR) && \
 	docker cp viam-csi-bin:/root/opt/src/csi-camera/etc/viam-csi-$(PACK_TAG)-aarch64.AppImage ./$(BIN_DIR) && \

diff --git a/etc/Dockerfile.base.l4t b/etc/Dockerfile.base.l4t
@@ -0,0 +1,111 @@
+ARG L4T_TAG
+FROM nvcr.io/nvidia/l4t-base:${L4T_TAG}
+
+RUN apt-get -y update
+
+# install viam-cpp-sdk
+# reference: https://github.com/viamrobotics/viam-cpp-sdk
+RUN apt-get -y --no-install-recommends install \
+    build-essential \
+    ca-certificates \
+    curl \
+    doxygen \
+    g++ \
+    gdb \
+    git \
+    gnupg \
+    gpg \
+    less \
+    libboost-all-dev \
+    libc-ares-dev \
+    libre2-dev \
+    libssl-dev \
+    ninja-build \
+    pkg-config \
+    software-properties-common \
+    sudo \
+    wget \
+    zlib1g-dev
+
+RUN bash -c 'wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key|apt-key add -'
+RUN apt-add-repository -y 'deb http://apt.llvm.org/focal/ llvm-toolchain-focal-15 main'
+
+RUN wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - > /usr/share/keyrings/kitware-archive-keyring.gpg
+RUN echo 'deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ focal main' > /etc/apt/sources.list.d/kitware.list
+
+RUN apt-get update
+
+RUN apt-get -y --no-install-recommends install -t llvm-toolchain-focal-15 \
+    clang-15 \
+    clang-tidy-15
+
+RUN apt-get -y install cmake
+
+RUN mkdir -p ${HOME}/opt/src
+
+RUN cd ${HOME}/opt/src && \
+    git clone --recurse-submodules -b v1.52.0 --depth 1 --shallow-submodules https://github.com/grpc/grpc && \
+    cd grpc && \
+    mkdir -p build && \
+    cd build && \
+    cmake .. -G Ninja \
+        -DgRPC_ZLIB_PROVIDER=package \
+        -DgRPC_CARES_PROVIDER=package \
+        -DgRPC_RE2_PROVIDER=package \
+        -DgRPC_SSL_PROVIDER=package \
+        -DgRPC_INSTALL=ON \
+        -DgRPC_BUILD_TESTS=OFF \
+        -DBUILD_SHARED_LIBS=ON \
+        -DCMAKE_BUILD_TYPE=RelWithDebInfo \
+        -DCMAKE_INSTALL_PREFIX=/usr/local \
+        -DCMAKE_INSTALL_RPATH=/usr/local/lib && \
+    ninja install && \
+    cd .. && \
+    rm -rf build
+
+RUN cd ${HOME}/opt/src && \
+    git clone https://github.com/viamrobotics/viam-cpp-sdk && \
+    cd viam-cpp-sdk && \
+    mkdir build && \
+    cd build && \
+    cmake  -DVIAMCPPSDK_USE_DYNAMIC_PROTOS=ON -DVIAMCPPSDK_OFFLINE_PROTO_GENERATION=ON .. -G Ninja  && \
+    ninja install -j 1
+
+# install viam-csi
+RUN cp -r ${HOME}/opt/src/viam-cpp-sdk/build/install/* /usr/local/
+
+# install appimage-builder
+RUN apt install -y \
+    binutils \
+    coreutils \
+    desktop-file-utils \
+    fakeroot \
+    fuse \
+    libgdk-pixbuf2.0-dev \
+    patchelf \
+    python3-pip python3-setuptools \
+    squashfs-tools \
+    strace \
+    util-linux zsync
+
+RUN pip3 install -U pip setuptools urllib3==1.26.12 requests==2.26.0
+
+# install appimage-builder
+RUN cd ${HOME}/opt/src && \
+    git clone https://github.com/AppImageCrafters/appimage-builder.git && \
+    cd appimage-builder && \
+    pip3 install ./
+
+# install docker
+RUN apt-get -y install \
+    apt-transport-https \
+    ca-certificates \
+    curl \
+    gnupg \
+    lsb-release && \
+    curl -fsSL https://download.docker.com/linux/ubuntu/gpg | gpg --dearmor -o /usr/share/keyrings/docker-archive-keyring.gpg && \
+    echo \
+        "deb [arch=arm64 signed-by=/usr/share/keyrings/docker-archive-keyring.gpg] https://download.docker.com/linux/ubuntu \
+        $(lsb_release -cs) stable" | tee /etc/apt/sources.list.d/docker.list > /dev/null && \ 
+    apt-get -y update && \
+    apt-get -y install docker-ce docker-ce-cli containerd.io
diff --git a/main.cpp b/main.cpp
@@ -31,7 +31,6 @@ int serve(const std::string& socket_path) {
 
     // Model registration
     auto module_registration = std::make_shared<ModelRegistration>(
-        ResourceType{RESOURCE_TYPE},
         Camera::static_api(),
         Model{api_params.api_namespace, api_params.api_type, api_params.api_subtype},
         [](Dependencies, ResourceConfig resource_config) -> std::shared_ptr<Resource> {