I am building ROS1 fro mthe dockerfile below;
the default example has librealsense catkin workspace; other github repositories could be cloned to the src folder;
Dockerfile:
FROM nvcr.io/nvidia/l4t-base:r32.4.3
RUN apt-get update -y
RUN apt install -y wget software-properties-common apt-utils curl git
RUN /bin/bash -c 'echo "deb http://packages.ros.org/ros/ubuntu bionic main" > /etc/apt/sources.list.d/ros-latest.list'
RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
RUN apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key
RUN apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE
RUN add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u
RUN apt-get update -y
ENV TZ America/Los_Angeles
RUN DEBIAN_FRONTEND="noninteractive" apt-get install -y tzdata git curl cmake wget mc mlocate
RUN DEBIAN_FRONTEND="noninteractive" apt install -y ros-melodic-desktop clang-format ros-melodic-desktop-full python-pip python3-pip python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
RUN apt update -y
#RUN rm -rf /var/lib/apt/lists
RUN apt-get install -y librealsense2-dev librealsense2-utils
RUN apt install -y ros-melodic-ddynamic-reconfigure ros-melodic-rtabmap-ros
RUN dpkg-reconfigure --frontend noninteractive tzdata
RUN rm -rf /var/lib/apt/lists
WORKDIR /home/nvidia/ws
RUN wget https://github.com/IntelRealSense/librealsense/archive/v2.36.0.tar.gz && tar -xvf v2.36.0.tar.gz
RUN cd librealsense-2.36.0 && ls && mkdir build && cd build && cmake ../ -DFORCE_RSUSB_BACKEND=true -DBUILD_PYTHON_BINDINGS=true -DCMAKE_BUILD_TYPE=release -DBUILD_EXAMPLES=true -DBUILD_GRAPHICAL_EXAMPLES=true && make -j8 && make install
RUN mkdir src && cd src && git clone https://github.com/intel-ros/realsense.git -b development
# && git clone https://github.com/slamtec/rplidar_ros
#COPY realsense-ros/occupancy src/occupancy
RUN rosdep init && rosdep update
RUN /bin/bash -c '. /opt/ros/melodic/setup.bash; cd /home/nvidia/ws; rosdep install --from-paths src --ignore-src; catkin_make'
then docker image can be build e.g. with
docker build . -t ros1_nx
Then the whole thing [ example below is realsense example ] can be executed with e.g.:
docker run -it --rm --net=host -e DISPLAY=$DISPLAY --ipc=host --privileged -v /tmp/.X11-unix/:/tmp/.X11-unix/ -v /tmp/argus_socket:/tmp/argus_socket --cap-add SYS_PTRACE ros1_nx:latest /bin/bash -c '. /opt/ros/melodic/setup.bash; source devel/setup.bash; roslaunch realsense2_camera rs_rtabmap.launch`
for graphical outputs xhost + will be required.
reference ROS2 Dockerfile container can be found here Intel realsense d435i on NX devkit - #11 by _av