Initial commit

ros_bridge/Dockerfile.autoware

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+FROM ghcr.io/autowarefoundation/autoware-universe:humble-20240301-cuda
+
+WORKDIR /ros_bridge
+
+RUN curl -fsSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
+    -o /usr/share/keyrings/ros-archive-keyring.gpg \
+ && printf "deb [arch=%s signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu %s main\n" \
+    "$(dpkg --print-architecture)" "$(. /etc/os-release && echo "$UBUNTU_CODENAME")" \
+    > /etc/apt/sources.list.d/ros2.list \
+ && apt-get update \
+ && apt-get install -y --no-install-recommends \
+    ros-humble-autoware-adapi-v1-msgs \
+    ros-humble-autoware-planning-msgs \
+    ros-humble-autoware-vehicle-msgs \
+    ros-humble-nav2-msgs \
+ && rm -rf /var/lib/apt/lists/*
+
+COPY requirements.txt /ros_bridge/requirements.txt
+RUN pip3 install --no-cache-dir -r /ros_bridge/requirements.txt
+
+COPY bridge.py /ros_bridge/bridge.py
+
+CMD bash -c "source /opt/ros/humble/setup.bash && if [ -f /autoware_ws/install/setup.bash ]; then source /autoware_ws/install/setup.bash; fi && python3 /ros_bridge/bridge.py"

ros_bridge/Dockerfile.nav2

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+FROM future-nav2:humble-jetson_orin
+
+WORKDIR /ros_bridge
+
+COPY requirements.txt .
+RUN pip3 install --no-cache-dir -r requirements.txt
+
+COPY bridge.py .
+
+CMD ["python3", "/ros_bridge/bridge.py"]
+

ros_bridge/requirements.txt

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+fastapi>=0.110.0
+uvicorn[standard]>=0.29.0
+pydantic>=2.0.0