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docker-ros-ml-images

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Machine Learning-Enabled ROS Docker Images

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# *docker-ros-ml-images* – Machine Learning-Enabled ROS Docker Images

*docker-ros-ml-images* provides multi-arch machine learning-enabled ROS Docker images.

> [!IMPORTANT]  
> This repository is open-sourced and maintained by the [**Institute for Automotive Engineering (ika) at RWTH Aachen University**](https://www.ika.rwth-aachen.de/).  
> **DevOps, Containerization and Orchestration of Software-Defined Vehicles** are some of many research topics within our [*Vehicle Intelligence & Automated Driving*](https://www.ika.rwth-aachen.de/en/competences/fields-of-research/vehicle-intelligence-automated-driving.html) domain.  
> If you would like to learn more about how we can support your advanced driver assistance and automated driving efforts, feel free to reach out to us!  
> :email: ***opensource@ika.rwth-aachen.de***

We recommend to use *docker-ros-ml-images* in combination with our other tools for Docker and ROS.
- [*docker-ros*](https://github.com/ika-rwth-aachen/docker-ros) automatically builds minimal container images of ROS applications <a href="https://github.com/ika-rwth-aachen/docker-ros"><img src="https://img.shields.io/github/stars/ika-rwth-aachen/docker-ros?style=social"/></a>
- [*docker-run*](https://github.com/ika-rwth-aachen/docker-run) is a CLI tool for simplified interaction with Docker images <a href="https://github.com/ika-rwth-aachen/docker-run"><img src="https://img.shields.io/github/stars/ika-rwth-aachen/docker-run?style=social"/></a>

## Quick Links to Available Images

[`ros2`](#rwthikaros2-ros-2) | [`ros2-cuda`](#rwthikaros2-cuda-ros-2-nvidia-cuda) | [`ros2-tensorrt`](#rwthikaros2-tensorrt-ros-2-nvidia-cuda-nvidia-tensorrt) | [`ros2-triton`](#rwthikaros2-triton-ros-2-nvidia-cuda-nvidia-triton-client) | [`ros2-torch`](#rwthikaros2-torch-ros-2-nvidia-cuda-nvidia-tensorrt-pytorch) | [`ros2-tf`](#rwthikaros2-tf-ros-2-nvidia-cuda-nvidia-tensorrt-tensorflow) | [`ros2-ml`](#rwthikaros2-ml-ros-2-nvidia-cuda-nvidia-tensorrt-pytorch-tensorflow)

## Quick Start

```bash
docker run --rm rwthika/ros2-ml:humble \
  python -c 'import os; import tensorflow as tf; import torch; e="ROS_DISTRO"; print(f"Hello from ROS {os.environ[e]}, PyTorch {torch.__version__}, and TensorFlow {tf.__version__}!")'
```

## Variations

With *docker-ros-ml-images*, we provide a variety of lightweight multi-arch machine learning-enabled ROS Docker images. Starting with plain ROS images, we offer successively larger ROS base images that also come with [*NVIDIA CUDA*](https://developer.nvidia.com/cuda-toolkit), [*NVIDIA TensorRT*](https://developer.nvidia.com/tensorrt), [*NVIDIA Triton Client*](https://developer.nvidia.com/triton-inference-server), [*PyTorch*](https://pytorch.org/) and/or [*TensorFlow*](https://www.tensorflow.org/) installations. Combining the components listed in the table below, we have built more than 100 multi-arch images and make them publicly available on [DockerHub](https://hub.docker.com/u/rwthika). In addition to the provided images, we also publish the [generic Dockerfile](./Dockerfile) used to flexibly build images combining the different components.

| Component          | Variations                                                                            |
| ------------------ | ------------------------------------------------------------------------------------- |
| ROS 2 Distribution | humble, jazzy, kilted, rolling                                                        |
| ROS 2 Components   | core, base, desktop-full                                                              |
| ML Framework       | NVIDIA CUDA, NVIDIA TensorRT, NVIDIA Triton Client, PyTorch, TensorFlow, ONNX Runtime |
| Architecture       | amd64, arm64                                                                          |

> [!NOTE]
> All images are targeted at NVIDIA GPUs and therefore base off of official [NVIDIA base images](https://catalog.ngc.nvidia.com/containers). The arm64 images, in particular, target NVIDIA Jetson SoCs and are based off of [NVIDIA L4T base images](https://catalog.ngc.nvidia.com/orgs/nvidia/containers/l4t-base). Ubuntu 22 images are provided with JetPack 6, Ubuntu 20 images with JetPack 5.

> [!NOTE]
> Since robotic applications are often implemented in C++ instead of Python for performance reasons, previous releases of our images also shipped with the C++ APIs of PyTorch and TensorFlow. Installing the C++ libraries often involves cumbersome building from source, so we have decided to drop PyTorch/TensorFlow C++ support for more frequent releases. You may still find those images with ML C++ support under the [23.08 release](https://hub.docker.com/r/rwthika/ros2-ml/tags?page=&page_size=&ordering=&name=-v23.08).

## Image Configuration

### User Setup

Containers of the provided images start with `root` user by default. If the two environment variables `DOCKER_UID` and `DOCKER_GID` are passed, a new user with the corresponding UID/GID is created on the fly. Most importantly, this features allows to mount and edit files of the host user in the container without having to deal with permission issues.

```bash
docker run --rm -it -e DOCKER_UID=$(id -u) -e DOCKER_GID=$(id -g) -e DOCKER_USER=$(id -un) rwthika/ros2:latest
```

The password of the custom user is set to its username (`dockeruser:dockeruser` by default).

## Available Images

### ROS 2

#### [`rwthika/ros2`](https://hub.docker.com/r/rwthika/ros2) (ROS 2)

<details><summary>Click to expand</summary>

| Tag | Arch | Ubuntu | Jetson Linux | Python | ROS | ROS Package | CMake | CUDA | cuDNN | TensorRT | Triton | PyTorch | TensorFlow | ONNX RT |
| :---------------------------------- | :------------: | :-----: | :----------: | :-----: | :-----: | :----------: | :----: | :---: | :---: | :------: | :----: | :-----: | :--------: | :-----: |
| `humble-ros-core` | amd64 arm64 | 22.04.5 | - | 3.10.12 | humble | ros-core | 3.22.1 | - | - | - | - | - | - | - |
| `humble`, `humble-ros-base` | amd64 arm64 | 22.04.5 | - | 3.10.12 | humble | ros-base | 3.22.1 | - | - | - | - | - | - | - |
| `humble-desktop-full` | amd64 arm64 | 22.04.5 | - | 3.10.12 | humble | desktop-full | 3.22.1 | - | - | - | - | - | - | - |
| `jazzy-ros-core` | amd64 arm64 | 24.04.2 | - | 3.12.3 | jazzy | ros-core | 3.28.3 | - | - | - | - | - | - | - |
| `latest`, `jazzy`, `jazzy-ros-base` | amd64 arm64 | 24.04.2 | - | 3.12.3 | jazzy | ros-base | 3.28.3 | - | - | - | - | - | - | - |
| `jazzy-desktop-full` | amd64 arm64 | 24.04.2 | - | 3.12.3 | jazzy | desktop-full | 3.28.3 | - | - | - | - | - | - | - |
| `kilted-ros-core` | amd64 arm64 | 24.04.2 | - | 3.12.3 | kilted | ros-core | 3.28.3 | - | - | - | - | - | - | - |
| `kilted`, `kilted-ros-base` | amd64 arm64 | 24.04.2 | - | 3.12.3 | kilted | ros-base | 3.28.3 | - | - | - | - | - | - | - |
| `kilted-desktop-full` | amd64 arm64 | 24.04.2 | - | 3.12.3 | kilted | desktop-full | 3.28.3 | - | - | - | - | - | - | - |
| `rolling-ros-core` | amd64 arm64 | 24.04.2 | - | 3.12.3 | rolling | ros-core | 3.28.3 | - | - | - | - | - | - | - |
| `rolling`, `rolling-ros-base` | amd64 arm64 | 24.04.2 | - | 3.12.3 | rolling | ros-base | 3.28.3 | - | - | - | - | - | - | - |
| `rolling-desktop-full` | amd64 arm64 | 24.04.2 | - | 3.12.3 | rolling | desktop-full | 3.28.3 | - | - | - | - | - | - | - |

</details>
</blockquote>

#### [`rwthika/ros2-cuda`](https://hub.docker.com/r/rwthika/ros2-cuda) (ROS 2, NVIDIA CUDA)

<details><summary>Click to expand</summary>

| Tag | Arch | Ubuntu | Jetson Linux | Python | ROS | ROS Package | CMake | CUDA | cuDNN | TensorRT | Triton | PyTorch | TensorFlow | ONNX RT |
| :---------------------------------- | :------------: | :----------------: | :----------: | :---------------: | :-----: | :----------: | :--------------: | :-----: | :---: | :------: | :----: | :-----: | :--------: | :-----: |
| `humble-ros-core` | amd64 arm64 | 22.04.4 22.04.3 | - 36.4.3 | 3.10.12 | humble | ros-core | 3.22.1 | 12.6.68 | - | - | - | - | - | - |
| `humble`, `humble-ros-base` | amd64 arm64 | 22.04.4 22.04.3 | - 36.4.3 | 3.10.12 | humble | ros-base | 3.22.1 | 12.6.68 | - | - | - | - | - | - |
| `humble-desktop-full` | amd64 arm64 | 22.04.4 22.04.3 | - 36.4.3 | 3.10.12 | humble | desktop-full | 3.22.1 | 12.6.68 | - | - | - | - | - | - |
| `jazzy-ros-core` | amd64 arm64 | 24.04 22.04.3 | - 36.4.3 | 3.12.3 3.10.12 | jazzy | ros-core | 3.28.3 3.22.1 | 12.6.68 | - | - | - | - | - | - |
| `latest`, `jazzy`, `jazzy-ros-base` | amd64 arm64 | 24.04 22.04.3 | - 36.4.3 | 3.12.3 3.10.12 | jazzy | ros-base | 3.28.3 3.22.1 | 12.6.68 | - | - | - | - | - | - |
| `jazzy-desktop-full` | amd64 arm64 | 24.04 22.04.3 | - 36.4.3 | 3.12.3 3.10.12 | jazzy | desktop-full | 3.28.3 3.22.1 | 12.6.68 | - | - | - | - | - | - |
| `kilted-ros-core` | amd64 | 24.04 | - | 3.12.3 | kilted | ros-core | 3.28.3 | 12.6.68 | - | - | - | - | - | - |
| `kilted`, `kilted-ros-base` | amd64 | 24.04 | - | 3.12.3 | kilted | ros-base | 3.28.3 | 12.6.68 | - | - | - | - | - | - |
| `kilted-desktop-full` | amd64 | 24.04 | - | 3.12.3 | kilted | desktop-full | 3.28.3 | 12.6.68 | - | - | - | - | - | - |
| `rolling-ros-core` | amd64 | 24.04 | - | 3.12.3 | rolling | ros-core | 3.28.3 | 12.6.68 | - | - | - | - | - | - |
| `rolling`, `rolling-ros-base` | amd64 | 24.04 | - | 3.12.3 | rolling | ros-base | 3.28.3 | 12.6.68 | - | - | - | - | - | - |
| `rolling-desktop-full` | amd64 | 24.04 | - | 3.12.3 | rolling | desktop-full | 3.28.3 | 12.6.68 | - | - | - | - | - | - |

</details>
</blockquote>

#### [`rwthika/ros2-tensorrt`](https://hub.docker.com/r/rwthika/ros2-tensorrt) (ROS 2, NVIDIA CUDA, NVIDIA TensorRT)

<details><summary>Click to expand</summary>

| Tag | Arch | Ubuntu | Jetson Linux | Python | ROS | ROS Package | CMake | CUDA | cuDNN | TensorRT | Triton | PyTorch | TensorFlow | ONNX RT |
| :---------------------------------- | :------------: | :----------------: | :----------: | :---------------: | :-----: | :----------: | :--------------: | :----------------: | :------------------: | :--------------------: | :----: | :-----: | :--------: | :-----: |
| `humble-ros-core` | amd64 arm64 | 22.04.4 | - 36.4.3 | 3.10.12 | humble | ros-core | 3.24.0 3.22.1 | 12.6.37 12.6.68 | 9.3.0.75 | 10.3.0.26 | - | - | - | - |
| `humble`, `humble-ros-base` | amd64 arm64 | 22.04.4 | - 36.4.3 | 3.10.12 | humble | ros-base | 3.24.0 3.22.1 | 12.6.37 12.6.68 | 9.3.0.75 | 10.3.0.26 | - | - | - | - |
| `humble-desktop-full` | amd64 arm64 | 22.04.4 | - 36.4.3 | 3.10.12 | humble | desktop-full | 3.24.0 3.22.1 | 12.6.37 12.6.68 | 9.3.0.75 | 10.3.0.26 | - | - | - | - |
| `jazzy-ros-core` | amd64 arm64 | 24.04.1 22.04.4 | - 36.4.3 | 3.12.3 3.10.12 | jazzy | ros-core | 3.24.0 3.22.1 | 12.6.77 12.6.68 | 9.5.1.17 9.3.0.75 | 10.6.0.26 10.3.0.26 | - | - | - | - |
| `latest`, `jazzy`, `jazzy-ros-base` | amd64 arm64 | 24.04.1 22.04.4 | - 36.4.3 | 3.12.3 3.10.12 | jazzy | ros-base | 3.24.0 3.22.1 | 12.6.77 12.6.68 | 9.5.1.17 9.3.0.75 | 10.6.0.26 10.3.0.26 | - | - | - | - |
| `jazzy-desktop-full` | amd64 arm64 | 24.04.1 22.04.4 | - 36.4.3 | 3.12.3 3.10.12 | jazzy | desktop-full | 3.24.0 3.22.1 | 12.6.77 12.6.68 | 9.5.1.17 9.3.0.75 | 10.6.0.26 10.3.0.26 | - | - | - | - |
| `kilted-ros-core` | amd64 | 24.04.1 | - | 3.12.3 | kilted | ros-core | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | - | - | - | - |
| `kilted`, `kilted-ros-base` | amd64 | 24.04.1 | - | 3.12.3 | kilted | ros-base | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | - | - | - | - |
| `kilted-desktop-full` | amd64 | 24.04.1 | - | 3.12.3 | kilted | desktop-full | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | - | - | - | - |
| `rolling-ros-core` | amd64 | 24.04.1 | - | 3.12.3 | rolling | ros-core | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | - | - | - | - |
| `rolling`, `rolling-ros-base` | amd64 | 24.04.1 | - | 3.12.3 | rolling | ros-base | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | - | - | - | - |
| `rolling-desktop-full` | amd64 | 24.04.1 | - | 3.12.3 | rolling | desktop-full | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | - | - | - | - |

</details>
</blockquote>

#### [`rwthika/ros2-triton`](https://hub.docker.com/r/rwthika/ros2-triton) (ROS 2, NVIDIA CUDA, NVIDIA Triton Client)

<details><summary>Click to expand</summary>

| Tag | Arch | Ubuntu | Jetson Linux | Python | ROS | ROS Package | CMake | CUDA | cuDNN | TensorRT | Triton | PyTorch | TensorFlow | ONNX RT |
| :----------------------------------------------- | :------------: | :-----: | :----------: | :-----: | :-----: | :----------: | :----: | :---: | :---: | :------: | :----: | :-----: | :--------: | :-----: |
| `humble-ros-core-triton2.52.0` | amd64 arm64 | 22.04.5 | - | 3.10.12 | humble | ros-core | 3.22.1 | - | - | - | 2.52.0 | - | - | - |
| `humble`, `humble-ros-base-triton2.52.0` | amd64 arm64 | 22.04.5 | - | 3.10.12 | humble | ros-base | 3.22.1 | - | - | - | 2.52.0 | - | - | - |
| `humble-desktop-full-triton2.52.0` | amd64 arm64 | 22.04.5 | - | 3.10.12 | humble | desktop-full | 3.22.1 | - | - | - | 2.52.0 | - | - | - |
| `jazzy-ros-core-triton2.52.0` | amd64 arm64 | 24.04.2 | - | 3.12.3 | jazzy | ros-core | 3.28.3 | - | - | - | 2.52.0 | - | - | - |
| `latest`, `jazzy`, `jazzy-ros-base-triton2.52.0` | amd64 arm64 | 24.04.2 | - | 3.12.3 | jazzy | ros-base | 3.28.3 | - | - | - | 2.52.0 | - | - | - |
| `jazzy-desktop-full-triton2.52.0` | amd64 arm64 | 24.04.2 | - | 3.12.3 | jazzy | desktop-full | 3.28.3 | - | - | - | 2.52.0 | - | - | - |
| `kilted-ros-core-triton2.52.0` | amd64 arm64 | 24.04.2 | - | 3.12.3 | kilted | ros-core | 3.28.3 | - | - | - | 2.52.0 | - | - | - |
| `kilted`, `kilted-ros-base-triton2.52.0` | amd64 arm64 | 24.04.2 | - | 3.12.3 | kilted | ros-base | 3.28.3 | - | - | - | 2.52.0 | - | - | - |
| `kilted-desktop-full-triton2.52.0` | amd64 arm64 | 24.04.2 | - | 3.12.3 | kilted | desktop-full | 3.28.3 | - | - | - | 2.52.0 | - | - | - |
| `rolling-ros-core-triton2.52.0` | amd64 arm64 | 24.04.2 | - | 3.12.3 | rolling | ros-core | 3.28.3 | - | - | - | 2.52.0 | - | - | - |
| `rolling`, `rolling-ros-base-triton2.52.0` | amd64 arm64 | 24.04.2 | - | 3.12.3 | rolling | ros-base | 3.28.3 | - | - | - | 2.52.0 | - | - | - |
| `rolling-desktop-full-triton2.52.0` | amd64 arm64 | 24.04.2 | - | 3.12.3 | rolling | desktop-full | 3.28.3 | - | - | - | 2.52.0 | - | - | - |

</details>
</blockquote>

#### [`rwthika/ros2-torch`](https://hub.docker.com/r/rwthika/ros2-torch) (ROS 2, NVIDIA CUDA, NVIDIA TensorRT, PyTorch)

<details><summary>Click to expand</summary>

| Tag | Arch | Ubuntu | Jetson Linux | Python | ROS | ROS Package | CMake | CUDA | cuDNN | TensorRT | Triton | PyTorch | TensorFlow | ONNX RT |
| :--------------------------------------------- | :------------: | :----------------: | :----------: | :---------------: | :-----: | :----------: | :--------------: | :----------------: | :------------------: | :--------------------: | :----: | :-----: | :--------: | :-----: |
| `humble-ros-core-torch2.5.0` | amd64 arm64 | 22.04.4 | - 36.4.3 | 3.10.12 | humble | ros-core | 3.24.0 3.22.1 | 12.6.37 12.6.68 | 9.3.0.75 | 10.3.0.26 | - | 2.5.0 2.8.0 | - | - |
| `humble`, `humble-ros-base-torch2.5.0` | amd64 arm64 | 22.04.4 | - 36.4.3 | 3.10.12 | humble | ros-base | 3.24.0 3.22.1 | 12.6.37 12.6.68 | 9.3.0.75 | 10.3.0.26 | - | 2.5.0 2.8.0 | - | - |
| `humble-desktop-full-torch2.5.0` | amd64 arm64 | 22.04.4 | - 36.4.3 | 3.10.12 | humble | desktop-full | 3.24.0 3.22.1 | 12.6.37 12.6.68 | 9.3.0.75 | 10.3.0.26 | - | 2.5.0 2.8.0 | - | - |
| `jazzy-ros-core-torch2.5.0` | amd64 arm64 | 24.04.1 22.04.4 | - 36.4.3 | 3.12.3 3.10.12 | jazzy | ros-core | 3.24.0 3.22.1 | 12.6.77 12.6.68 | 9.5.1.17 9.3.0.75 | 10.6.0.26 10.3.0.26 | - | 2.5.0 2.8.0 | - | - |
| `latest`, `jazzy`, `jazzy-ros-base-torch2.5.0` | amd64 arm64 | 24.04.1 22.04.4 | - 36.4.3 | 3.12.3 3.10.12 | jazzy | ros-base | 3.24.0 3.22.1 | 12.6.77 12.6.68 | 9.5.1.17 9.3.0.75 | 10.6.0.26 10.3.0.26 | - | 2.5.0 2.8.0 | - | - |
| `jazzy-desktop-full-torch2.5.0` | amd64 arm64 | 24.04.1 22.04.4 | - 36.4.3 | 3.12.3 3.10.12 | jazzy | desktop-full | 3.24.0 3.22.1 | 12.6.77 12.6.68 | 9.5.1.17 9.3.0.75 | 10.6.0.26 10.3.0.26 | - | 2.5.0 2.8.0 | - | - |
| `kilted-ros-core-torch2.5.0` | amd64 | 24.04.1 | - | 3.12.3 | kilted | ros-core | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | - | 2.5.0 | - | - |
| `kilted`, `kilted-ros-base-torch2.5.0` | amd64 | 24.04.1 | - | 3.12.3 | kilted | ros-base | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | - | 2.5.0 | - | - |
| `kilted-desktop-full-torch2.5.0` | amd64 | 24.04.1 | - | 3.12.3 | kilted | desktop-full | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | - | 2.5.0 | - | - |
| `rolling-ros-core-torch2.5.0` | amd64 | 24.04.1 | - | 3.12.3 | rolling | ros-core | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | - | 2.5.0 | - | - |
| `rolling`, `rolling-ros-base-torch2.5.0` | amd64 | 24.04.1 | - | 3.12.3 | rolling | ros-base | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | - | 2.5.0 | - | - |
| `rolling-desktop-full-torch2.5.0` | amd64 | 24.04.1 | - | 3.12.3 | rolling | desktop-full | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | - | 2.5.0 | - | - |

</details>
</blockquote>

#### [`rwthika/ros2-tf`](https://hub.docker.com/r/rwthika/ros2-tf) (ROS 2, NVIDIA CUDA, NVIDIA TensorRT, TensorFlow)

<details><summary>Click to expand</summary>

| Tag | Arch | Ubuntu | Jetson Linux | Python | ROS | ROS Package | CMake | CUDA | cuDNN | TensorRT | Triton | PyTorch | TensorFlow | ONNX RT |
| :------------------------------------------- | :------------: | :----------------: | :----------: | :---------------: | :-----: | :----------: | :--------------: | :----------------: | :------------------: | :--------------------: | :----: | :-----: | :--------------: | :-----: |
| `humble-ros-core-tf2.18.0` | amd64 arm64 | 22.04.4 | - 36.4.3 | 3.10.12 | humble | ros-core | 3.24.0 3.22.1 | 12.6.37 12.6.68 | 9.3.0.75 | 10.3.0.26 | - | - | 2.18.0 2.16.1 | - |
| `humble`, `humble-ros-base-tf2.18.0` | amd64 arm64 | 22.04.4 | - 36.4.3 | 3.10.12 | humble | ros-base | 3.24.0 3.22.1 | 12.6.37 12.6.68 | 9.3.0.75 | 10.3.0.26 | - | - | 2.18.0 2.16.1 | - |
| `humble-desktop-full-tf2.18.0` | amd64 arm64 | 22.04.4 | - 36.4.3 | 3.10.12 | humble | desktop-full | 3.24.0 3.22.1 | 12.6.37 12.6.68 | 9.3.0.75 | 10.3.0.26 | - | - | 2.18.0 2.16.1 | - |
| `jazzy-ros-core-tf2.18.0` | amd64 arm64 | 24.04.1 22.04.4 | - 36.4.3 | 3.12.3 3.10.12 | jazzy | ros-core | 3.24.0 3.22.1 | 12.6.77 12.6.68 | 9.5.1.17 9.3.0.75 | 10.6.0.26 10.3.0.26 | - | - | 2.18.0 2.16.1 | - |
| `latest`, `jazzy`, `jazzy-ros-base-tf2.18.0` | amd64 arm64 | 24.04.1 22.04.4 | - 36.4.3 | 3.12.3 3.10.12 | jazzy | ros-base | 3.24.0 3.22.1 | 12.6.77 12.6.68 | 9.5.1.17 9.3.0.75 | 10.6.0.26 10.3.0.26 | - | - | 2.18.0 2.16.1 | - |
| `jazzy-desktop-full-tf2.18.0` | amd64 arm64 | 24.04.1 22.04.4 | - 36.4.3 | 3.12.3 3.10.12 | jazzy | desktop-full | 3.24.0 3.22.1 | 12.6.77 12.6.68 | 9.5.1.17 9.3.0.75 | 10.6.0.26 10.3.0.26 | - | - | 2.18.0 2.16.1 | - |
| `kilted-ros-core-tf2.18.0` | amd64 | 24.04.1 | - | 3.12.3 | kilted | ros-core | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | - | - | 2.18.0 | - |
| `kilted`, `kilted-ros-base-tf2.18.0` | amd64 | 24.04.1 | - | 3.12.3 | kilted | ros-base | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | - | - | 2.18.0 | - |
| `kilted-desktop-full-tf2.18.0` | amd64 | 24.04.1 | - | 3.12.3 | kilted | desktop-full | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | - | - | 2.18.0 | - |
| `rolling-ros-core-tf2.18.0` | amd64 | 24.04.1 | - | 3.12.3 | rolling | ros-core | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | - | - | 2.18.0 | - |
| `rolling`, `rolling-ros-base-tf2.18.0` | amd64 | 24.04.1 | - | 3.12.3 | rolling | ros-base | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | - | - | 2.18.0 | - |
| `rolling-desktop-full-tf2.18.0` | amd64 | 24.04.1 | - | 3.12.3 | rolling | desktop-full | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | - | - | 2.18.0 | - |

</details>
</blockquote>

#### [`rwthika/ros2-ml`](https://hub.docker.com/r/rwthika/ros2-ml) (ROS 2, NVIDIA CUDA, NVIDIA TensorRT, PyTorch, TensorFlow)

<details><summary>Click to expand</summary>

| Tag | Arch | Ubuntu | Jetson Linux | Python | ROS | ROS Package | CMake | CUDA | cuDNN | TensorRT | Triton | PyTorch | TensorFlow | ONNX RT |
| :------------------------------------------------------ | :------------: | :----------------: | :----------: | :---------------: | :-----: | :----------: | :--------------: | :----------------: | :------------------: | :--------------------: | :----: | :-----: | :---------: | :---------: |
| `humble-ros-core-tf2.18.0-torch2.5.0` | amd64 arm64 | 22.04.4 | - 36.4.3 | 3.10.12 | humble | ros-core | 3.24.0 3.22.1 | 12.6.37 12.6.68 | 9.3.0.75 | 10.3.0.26 | 2.52.0 | 2.5.0 2.8.0 | 2.18.0 - | 1.20.1 - |
| `humble`, `humble-ros-base-tf2.18.0-torch2.5.0` | amd64 arm64 | 22.04.4 | - 36.4.3 | 3.10.12 | humble | ros-base | 3.24.0 3.22.1 | 12.6.37 12.6.68 | 9.3.0.75 | 10.3.0.26 | 2.52.0 | 2.5.0 2.8.0 | 2.18.0 - | 1.20.1 - |
| `humble-desktop-full-tf2.18.0-torch2.5.0` | amd64 arm64 | 22.04.4 | - 36.4.3 | 3.10.12 | humble | desktop-full | 3.24.0 3.22.1 | 12.6.37 12.6.68 | 9.3.0.75 | 10.3.0.26 | 2.52.0 | 2.5.0 2.8.0 | 2.18.0 - | 1.20.1 - |
| `jazzy-ros-core-tf2.18.0-torch2.5.0` | amd64 arm64 | 24.04.1 22.04.4 | - 36.4.3 | 3.12.3 3.10.12 | jazzy | ros-core | 3.24.0 3.22.1 | 12.6.77 12.6.68 | 9.5.1.17 9.3.0.75 | 10.6.0.26 10.3.0.26 | 2.52.0 | 2.5.0 2.8.0 | 2.18.0 - | 1.20.1 - |
| `latest`, `jazzy`, `jazzy-ros-base-tf2.18.0-torch2.5.0` | amd64 arm64 | 24.04.1 22.04.4 | - 36.4.3 | 3.12.3 3.10.12 | jazzy | ros-base | 3.24.0 3.22.1 | 12.6.77 12.6.68 | 9.5.1.17 9.3.0.75 | 10.6.0.26 10.3.0.26 | 2.52.0 | 2.5.0 2.8.0 | 2.18.0 - | 1.20.1 - |
| `jazzy-desktop-full-tf2.18.0-torch2.5.0` | amd64 arm64 | 24.04.1 22.04.4 | - 36.4.3 | 3.12.3 3.10.12 | jazzy | desktop-full | 3.24.0 3.22.1 | 12.6.77 12.6.68 | 9.5.1.17 9.3.0.75 | 10.6.0.26 10.3.0.26 | 2.52.0 | 2.5.0 2.8.0 | 2.18.0 - | 1.20.1 - |
| `kilted-ros-core-tf2.18.0-torch2.5.0` | amd64 | 24.04.1 | - | 3.12.3 | kilted | ros-core | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | 2.52.0 | 2.5.0 | 2.18.0 | 1.20.1 |
| `kilted`, `kilted-ros-base-tf2.18.0-torch2.5.0` | amd64 | 24.04.1 | - | 3.12.3 | kilted | ros-base | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | 2.52.0 | 2.5.0 | 2.18.0 | 1.20.1 |
| `kilted-desktop-full-tf2.18.0-torch2.5.0` | amd64 | 24.04.1 | - | 3.12.3 | kilted | desktop-full | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | 2.52.0 | 2.5.0 | 2.18.0 | 1.20.1 |
| `rolling-ros-core-tf2.18.0-torch2.5.0` | amd64 | 24.04.1 | - | 3.12.3 | rolling | ros-core | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | 2.52.0 | 2.5.0 | 2.18.0 | 1.20.1 |
| `rolling`, `rolling-ros-base-tf2.18.0-torch2.5.0` | amd64 | 24.04.1 | - | 3.12.3 | rolling | ros-base | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | 2.52.0 | 2.5.0 | 2.18.0 | 1.20.1 |
| `rolling-desktop-full-tf2.18.0-torch2.5.0` | amd64 | 24.04.1 | - | 3.12.3 | rolling | desktop-full | 3.24.0 | 12.6.77 | 9.5.1.17 | 10.6.0.26 | 2.52.0 | 2.5.0 | 2.18.0 | 1.20.1 |

</details>
</blockquote>

### ROS

> [!NOTE]
> As of May 2025, [ROS (1) has gone end-of-life](http://wiki.ros.org/Distributions). The last release of *docker-ros-ml-images* to include ROS Noetic images is [release 25.02](https://github.com/ika-rwth-aachen/docker-ros-ml-images/tree/25.02). These images will remain available.

## Manual Build

```
docker buildx build \
  --pull \
  --platform $PLATFORM \
  --build-arg IMAGE_VERSION=$CI_COMMIT_TAG \
  --build-arg BASE_IMAGE_TYPE=$BASE_IMAGE_TYPE \
  --build-arg UBUNTU_VERSION=$UBUNTU_VERSION \
  --build-arg ROS_DISTRO=$ROS_DISTRO \
  --build-arg ROS_PACKAGE=$ROS_PACKAGE \
  --build-arg ROS_BUILD_FROM_SRC=$ROS_BUILD_FROM_SRC \
  --build-arg TORCH_VERSION=$TORCH_VERSION \
  --build-arg TF_VERSION=$TF_VERSION \
  --build-arg ONNX_RUNTIME_VERSION=$ONNX_RUNTIME_VERSION \
  --build-arg TRITON_VERSION=$TRITON_VERSION \
  --tag $IMAGE .
```

docker-ros-ml-images

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