Docker: build files renamed. start nvidia-jetson support

b03aada2 · storypku · eb46f163 · b03aada2 · b03aada2 · b03aada2
6 changed file
--- a/docker/build/cyber.aarch64.dockerfile
+++ b/docker/build/cyber.aarch64.dockerfile
 FROM arm64v8/ubuntu:18.04

+ARG BUILD_STAGE
+ARG GEOLOC
 ARG INSTALL_MODE

-LABEL version="1.0"
+LABEL version="1.2"

 ENV DEBIAN_FRONTEND=noninteractive
+ENV PATH /opt/apollo/sysroot/bin:$PATH

-RUN apt clean
-RUN apt update -y && \
-    apt install -y \
-    build-essential \
-    cmake \
-    curl \
-    gcc-5 \
-    g++-5 \
-    git \
-    unzip \
-    zip \
-    vim \
-    wget \
-    bc \
-    gdb \
-    uuid-dev \
-    python \
-    python-dev \
-    python3 \
-    python3-dev \
-    libasio-dev \
-    libtinyxml2-6 \
-    libtinyxml2-dev \
-    libncurses5-dev \
-    libavcodec57 \
-    libavcodec-dev \
-    libswscale4 \
-    libswscale-dev \
-    libcurl4-nss-dev \
-    libpoco-dev \
-    libeigen3-dev \
-    libflann-dev \
-    libqhull-dev \
-    libpcap0.8 \
-    libpcap0.8-dev \
-    libusb-1.0-0 \
-    libusb-1.0-0-dev \
-    libopenni0 \
-    libopenni-dev \
-    libopenni2-0 \
-    libopenni2-dev \
-    openjdk-8-jdk \
-    software-properties-common
-
-RUN rm -f /usr/bin/gcc
-RUN ln -s /usr/bin/gcc-5 /etc/alternatives/gcc
-RUN ln -s /etc/alternatives/gcc /usr/bin/gcc
-RUN rm -f /usr/bin/g++
-RUN ln -s /usr/bin/g++-5 /etc/alternatives/g++
-RUN ln -s /etc/alternatives/g++ /usr/bin/g++
-
-# Run installer [build|download]
 COPY installers /tmp/installers
-RUN bash /tmp/installers/install_bazel.sh ${INSTALL_MODE}
-RUN bash /tmp/installers/install_gflags_glog.sh
-RUN bash /tmp/installers/install_protobuf.sh
-RUN bash /tmp/installers/install_bazel_packages.sh
-RUN bash /tmp/installers/install_google_styleguide.sh
-RUN bash /tmp/installers/install_osqp.sh ${INSTALL_MODE}
-
-# Add Bionic source
-RUN echo "deb http://ports.ubuntu.com/ubuntu-ports/ bionic main restricted" > /etc/apt/sources.list
-RUN echo "deb http://ports.ubuntu.com/ubuntu-ports/ bionic-updates main restricted" >> /etc/apt/sources.list
-RUN echo "deb http://ports.ubuntu.com/ubuntu-ports/ bionic universe" >> /etc/apt/sources.list
-RUN echo "deb http://ports.ubuntu.com/ubuntu-ports/ bionic-updates universe" >> /etc/apt/sources.list
-RUN echo "deb http://ports.ubuntu.com/ubuntu-ports/ bionic multiverse" >> /etc/apt/sources.list
-RUN echo "deb http://ports.ubuntu.com/ubuntu-ports/ bionic-updates multiverse" >> /etc/apt/sources.list
-RUN echo "deb http://ports.ubuntu.com/ubuntu-ports/ bionic-backports main restricted universe multiverse" >> /etc/apt/sources.list
+COPY rcfiles /opt/apollo/rcfiles
+# Pre-downloaded tarballs
+COPY archive /tmp/archive

-#add Trusty universe into apt source for Poco foundation 9
-RUN echo "deb http://ports.ubuntu.com/ubuntu-ports/ trusty main" >> /etc/apt/sources.list
-RUN echo "deb http://ports.ubuntu.com/ubuntu-ports/ trusty universe" >> /etc/apt/sources.list
-RUN echo "deb http://ports.ubuntu.com/ubuntu-ports/ xenial main" >> /etc/apt/sources.list
-RUN echo "deb http://ports.ubuntu.com/ubuntu-ports/ xenial universe" >> /etc/apt/sources.list
-RUN apt update -y
-RUN apt remove --purge openmpi-common=2.1.1-8
-RUN apt install -y --allow-downgrades \
-    libboost-system1.54.0 \
-    libboost-thread1.54.0 \
-    libboost-signals1.54.0 \
-    libboost-filesystem1.54.0 \
-    libboost-iostreams1.54.0 \
-    libboost-chrono1.54.0 \
-    libboost1.54-dev \
-    libboost-dev=1.54.0.1ubuntu1 \
-    libkml-dev \
-    libopencv-core-dev=2.4.8+dfsg1-2ubuntu1 \
-    libopencv-imgproc-dev=2.4.8+dfsg1-2ubuntu1 \
-    libopencv-highgui-dev=2.4.8+dfsg1-2ubuntu1 \
-    openmpi-common=1.10.2-8ubuntu1 \
-    openmpi-bin=1.10.2-8ubuntu1 \
-    libopenmpi1.10 \
-    libopenmpi-dev=1.10.2-8ubuntu1 \
-    libgdal-dev \
-    libvtk6.2 \
-    vtk6=6.2.0+dfsg1-10build1 \
-    libvtk6-java=6.2.0+dfsg1-10build1 \
-    libxdmf-dev=2.1.dfsg.1-13 \
-    mpi-default-dev=1.4 \
-    mpi-default-bin=1.4 \
-    python-mpi4py=1.3.1+hg20131106-2ubuntu5 \
-    python-vtk6=6.2.0+dfsg1-10build1 \
-    tcl-vtk6=6.2.0+dfsg1-10build1 \
-    libvtk6-dev=6.2.0+dfsg1-10build1 \
-    libpocofoundation9v5
+RUN bash /tmp/installers/install_minimal_environment.sh ${GEOLOC}
+RUN bash /tmp/installers/install_bazel.sh
+RUN bash /tmp/installers/install_cmake.sh ${INSTALL_MODE}
+RUN bash /tmp/installers/install_llvm_clang.sh

-RUN rm -f /usr/lib/libPocoFoundation.so
-RUN ln -s /usr/lib/libPocoFoundation.so.9 /usr/lib/libPocoFoundation.so
-RUN ln -s /usr/lib/aarch64-linux-gnu/libboost_filesystem.so.1.54.0 /usr/lib/aarch64-linux-gnu/libboost_filesystem.so
-RUN ln -s /usr/lib/aarch64-linux-gnu/libboost_iostreams.so.1.54.0 /usr/lib/aarch64-linux-gnu/libboost_iostreams.so
-RUN ln -s /usr/lib/aarch64-linux-gnu/libboost_date_time.so.1.65.1 /usr/lib/aarch64-linux-gnu/libboost_date_time.so
-RUN ln -s /usr/lib/aarch64-linux-gnu/libboost_regex.so.1.65.1 /usr/lib/aarch64-linux-gnu/libboost_regex.so
-RUN ln -s /usr/lib/aarch64-linux-gnu/libboost_serialization.so.1.65.1 /usr/lib/aarch64-linux-gnu/libboost_serialization.so
-RUN ln -s /usr/lib/aarch64-linux-gnu/libboost_signals.so.1.54.0 /usr/lib/aarch64-linux-gnu/libboost_signals.so
-RUN ln -s /usr/lib/aarch64-linux-gnu/libboost_system.so.1.54.0 /usr/lib/aarch64-linux-gnu/libboost_system.so
-RUN ln -s /usr/lib/aarch64-linux-gnu/libboost_thread.so.1.54.0 /usr/lib/aarch64-linux-gnu/libboost_thread.so
-RUN ln -s /usr/lib/aarch64-linux-gnu/libboost_wserialization.so.1.65.1 /usr/lib/aarch64-linux-gnu/libboost_wserialization.so
-RUN ln -s /usr/lib/aarch64-linux-gnu/libboost_chrono.so.1.54.0 /usr/lib/aarch64-linux-gnu/libboost_chrono.so
-RUN ln -s /usr/lib/libgl2ps.so.0 /usr/lib/libgl2ps.so
-RUN ln -s /usr/lib/python2.7/dist-packages/vtk/libvtkRenderingPythonTkWidgets.aarch64-linux-gnu.so /usr/lib/aarch64-linux-gnu/libvtkRenderingPythonTkWidgets.so
+RUN bash /tmp/installers/install_cyber_deps.sh
+RUN bash /tmp/installers/install_qa_tools.sh

-RUN bash /tmp/installers/install_fast-rtps.sh
-RUN bash /tmp/installers/install_pcl.sh ${INSTALL_MODE}
-RUN rm -fr /tmp/*
+RUN bash /tmp/installers/install_visualizer_deps.sh
+RUN bash /tmp/installers/post_install.sh ${BUILD_STAGE}

 WORKDIR /apollo
-#USER apollo
--- a/docker/build/deprecated_cyber.aarch64.dockerfile
+++ b/docker/build/deprecated_cyber.aarch64.dockerfile
+FROM arm64v8/ubuntu:18.04
+
+ARG INSTALL_MODE
+
+LABEL version="1.0"
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt clean
+RUN apt update -y && \
+    apt install -y \
+    build-essential \
+    cmake \
+    curl \
+    gcc-5 \
+    g++-5 \
+    git \
+    unzip \
+    zip \
+    vim \
+    wget \
+    bc \
+    gdb \
+    uuid-dev \
+    python \
+    python-dev \
+    python3 \
+    python3-dev \
+    libasio-dev \
+    libtinyxml2-6 \
+    libtinyxml2-dev \
+    libncurses5-dev \
+    libavcodec57 \
+    libavcodec-dev \
+    libswscale4 \
+    libswscale-dev \
+    libcurl4-nss-dev \
+    libpoco-dev \
+    libeigen3-dev \
+    libflann-dev \
+    libqhull-dev \
+    libpcap0.8 \
+    libpcap0.8-dev \
+    libusb-1.0-0 \
+    libusb-1.0-0-dev \
+    libopenni0 \
+    libopenni-dev \
+    libopenni2-0 \
+    libopenni2-dev \
+    openjdk-8-jdk \
+    software-properties-common
+
+RUN rm -f /usr/bin/gcc
+RUN ln -s /usr/bin/gcc-5 /etc/alternatives/gcc
+RUN ln -s /etc/alternatives/gcc /usr/bin/gcc
+RUN rm -f /usr/bin/g++
+RUN ln -s /usr/bin/g++-5 /etc/alternatives/g++
+RUN ln -s /etc/alternatives/g++ /usr/bin/g++
+
+# Run installer [build|download]
+COPY installers /tmp/installers
+RUN bash /tmp/installers/install_bazel.sh ${INSTALL_MODE}
+RUN bash /tmp/installers/install_gflags_glog.sh
+RUN bash /tmp/installers/install_protobuf.sh
+RUN bash /tmp/installers/install_bazel_packages.sh
+RUN bash /tmp/installers/install_google_styleguide.sh
+RUN bash /tmp/installers/install_osqp.sh ${INSTALL_MODE}
+
+# Add Bionic source
+RUN echo "deb http://ports.ubuntu.com/ubuntu-ports/ bionic main restricted" > /etc/apt/sources.list
+RUN echo "deb http://ports.ubuntu.com/ubuntu-ports/ bionic-updates main restricted" >> /etc/apt/sources.list
+RUN echo "deb http://ports.ubuntu.com/ubuntu-ports/ bionic universe" >> /etc/apt/sources.list
+RUN echo "deb http://ports.ubuntu.com/ubuntu-ports/ bionic-updates universe" >> /etc/apt/sources.list
+RUN echo "deb http://ports.ubuntu.com/ubuntu-ports/ bionic multiverse" >> /etc/apt/sources.list
+RUN echo "deb http://ports.ubuntu.com/ubuntu-ports/ bionic-updates multiverse" >> /etc/apt/sources.list
+RUN echo "deb http://ports.ubuntu.com/ubuntu-ports/ bionic-backports main restricted universe multiverse" >> /etc/apt/sources.list
+
+#add Trusty universe into apt source for Poco foundation 9
+RUN echo "deb http://ports.ubuntu.com/ubuntu-ports/ trusty main" >> /etc/apt/sources.list
+RUN echo "deb http://ports.ubuntu.com/ubuntu-ports/ trusty universe" >> /etc/apt/sources.list
+RUN echo "deb http://ports.ubuntu.com/ubuntu-ports/ xenial main" >> /etc/apt/sources.list
+RUN echo "deb http://ports.ubuntu.com/ubuntu-ports/ xenial universe" >> /etc/apt/sources.list
+RUN apt update -y
+RUN apt remove --purge openmpi-common=2.1.1-8
+RUN apt install -y --allow-downgrades \
+    libboost-system1.54.0 \
+    libboost-thread1.54.0 \
+    libboost-signals1.54.0 \
+    libboost-filesystem1.54.0 \
+    libboost-iostreams1.54.0 \
+    libboost-chrono1.54.0 \
+    libboost1.54-dev \
+    libboost-dev=1.54.0.1ubuntu1 \
+    libkml-dev \
+    libopencv-core-dev=2.4.8+dfsg1-2ubuntu1 \
+    libopencv-imgproc-dev=2.4.8+dfsg1-2ubuntu1 \
+    libopencv-highgui-dev=2.4.8+dfsg1-2ubuntu1 \
+    openmpi-common=1.10.2-8ubuntu1 \
+    openmpi-bin=1.10.2-8ubuntu1 \
+    libopenmpi1.10 \
+    libopenmpi-dev=1.10.2-8ubuntu1 \
+    libgdal-dev \
+    libvtk6.2 \
+    vtk6=6.2.0+dfsg1-10build1 \
+    libvtk6-java=6.2.0+dfsg1-10build1 \
+    libxdmf-dev=2.1.dfsg.1-13 \
+    mpi-default-dev=1.4 \
+    mpi-default-bin=1.4 \
+    python-mpi4py=1.3.1+hg20131106-2ubuntu5 \
+    python-vtk6=6.2.0+dfsg1-10build1 \
+    tcl-vtk6=6.2.0+dfsg1-10build1 \
+    libvtk6-dev=6.2.0+dfsg1-10build1 \
+    libpocofoundation9v5
+
+RUN rm -f /usr/lib/libPocoFoundation.so
+RUN ln -s /usr/lib/libPocoFoundation.so.9 /usr/lib/libPocoFoundation.so
+RUN ln -s /usr/lib/aarch64-linux-gnu/libboost_filesystem.so.1.54.0 /usr/lib/aarch64-linux-gnu/libboost_filesystem.so
+RUN ln -s /usr/lib/aarch64-linux-gnu/libboost_iostreams.so.1.54.0 /usr/lib/aarch64-linux-gnu/libboost_iostreams.so
+RUN ln -s /usr/lib/aarch64-linux-gnu/libboost_date_time.so.1.65.1 /usr/lib/aarch64-linux-gnu/libboost_date_time.so
+RUN ln -s /usr/lib/aarch64-linux-gnu/libboost_regex.so.1.65.1 /usr/lib/aarch64-linux-gnu/libboost_regex.so
+RUN ln -s /usr/lib/aarch64-linux-gnu/libboost_serialization.so.1.65.1 /usr/lib/aarch64-linux-gnu/libboost_serialization.so
+RUN ln -s /usr/lib/aarch64-linux-gnu/libboost_signals.so.1.54.0 /usr/lib/aarch64-linux-gnu/libboost_signals.so
+RUN ln -s /usr/lib/aarch64-linux-gnu/libboost_system.so.1.54.0 /usr/lib/aarch64-linux-gnu/libboost_system.so
+RUN ln -s /usr/lib/aarch64-linux-gnu/libboost_thread.so.1.54.0 /usr/lib/aarch64-linux-gnu/libboost_thread.so
+RUN ln -s /usr/lib/aarch64-linux-gnu/libboost_wserialization.so.1.65.1 /usr/lib/aarch64-linux-gnu/libboost_wserialization.so
+RUN ln -s /usr/lib/aarch64-linux-gnu/libboost_chrono.so.1.54.0 /usr/lib/aarch64-linux-gnu/libboost_chrono.so
+RUN ln -s /usr/lib/libgl2ps.so.0 /usr/lib/libgl2ps.so
+RUN ln -s /usr/lib/python2.7/dist-packages/vtk/libvtkRenderingPythonTkWidgets.aarch64-linux-gnu.so /usr/lib/aarch64-linux-gnu/libvtkRenderingPythonTkWidgets.so
+
+RUN bash /tmp/installers/install_fast-rtps.sh
+RUN bash /tmp/installers/install_pcl.sh ${INSTALL_MODE}
+RUN rm -fr /tmp/*
+
+WORKDIR /apollo
+#USER apollo
--- a/docker/build/deprecated_dev.x86_64.dockerfile
+++ b/docker/build/deprecated_dev.x86_64.dockerfile
+FROM nvidia/cuda:10.2-cudnn7-devel-ubuntu18.04
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update -y && \
+    apt-get install -y \
+    apt-transport-https \
+    autotools-dev \
+    automake \
+    bc \
+    build-essential \
+    cmake \
+    cppcheck \
+    curl \
+    curlftpfs \
+    debconf-utils \
+    doxygen \
+    gdb \
+    git \
+    google-perftools \
+    graphviz \
+    iproute2 \
+    iputils-ping \
+    lcov \
+    libblas-dev \
+    libssl-dev \
+    libboost-all-dev \
+    libcurl4-openssl-dev \
+    libfreetype6-dev \
+    liblapack-dev \
+    libpcap-dev \
+    libsqlite3-dev \
+    libgtest-dev \
+    locate \
+    lsof \
+    nfs-common \
+    python-autopep8 \
+    shellcheck \
+    software-properties-common \
+    sshfs \
+    subversion \
+    unzip \
+    uuid-dev \
+    v4l-utils \
+    vim \
+    wget \
+    libasound2-dev \
+    zip && \
+    apt-get clean && rm -rf /var/lib/apt/lists/* && \
+    echo '\n\n\n' | ssh-keygen -t rsa
+
+# Run installers.
+COPY installers /tmp/installers
+COPY archive /tmp/archive
+RUN bash /tmp/installers/install_adv_plat.sh
+RUN bash /tmp/installers/install_bazel.sh
+RUN bash /tmp/installers/install_bazel_packages.sh
+RUN bash /tmp/installers/install_bosfs.sh
+RUN bash /tmp/installers/install_conda.sh
+RUN bash /tmp/installers/install_ffmpeg.sh
+RUN bash /tmp/installers/install_gflags_glog.sh
+RUN bash /tmp/installers/install_glew.sh
+RUN bash /tmp/installers/install_google_styleguide.sh
+RUN bash /tmp/installers/install_gpu_caffe.sh
+RUN bash /tmp/installers/install_ipopt.sh
+RUN bash /tmp/installers/install_osqp.sh
+RUN bash /tmp/installers/install_libjsonrpc-cpp.sh
+RUN bash /tmp/installers/install_nlopt.sh
+RUN bash /tmp/installers/install_node.sh
+RUN bash /tmp/installers/install_openh264.sh
+RUN bash /tmp/installers/install_ota.sh
+RUN bash /tmp/installers/install_pcl.sh
+RUN bash /tmp/installers/install_poco.sh
+RUN bash /tmp/installers/install_protobuf.sh
+RUN bash /tmp/installers/install_python_modules.sh
+RUN bash /tmp/installers/install_qp_oases.sh
+RUN bash /tmp/installers/install_qt.sh
+RUN bash /tmp/installers/install_undistort.sh
+RUN bash /tmp/installers/install_yarn.sh
+RUN bash /tmp/installers/post_install.sh
+RUN bash /tmp/installers/install_opuslib.sh
+
+WORKDIR /apollo
--- a/docker/build/dev.x86_64.dockerfile
+++ b/docker/build/dev.x86_64.dockerfile
-FROM nvidia/cuda:10.2-cudnn7-devel-ubuntu18.04
+FROM apolloauto/apollo:cyber-x86_64-18.04-20200629_0512

-ENV DEBIAN_FRONTEND=noninteractive
+ARG GEOLOC
+ARG BUILD_STAGE
+ARG INSTALL_MODE

-RUN apt-get update -y && \
-    apt-get install -y \
-    apt-transport-https \
-    autotools-dev \
-    automake \
-    bc \
-    build-essential \
-    cmake \
-    cppcheck \
-    curl \
-    curlftpfs \
-    debconf-utils \
-    doxygen \
-    gdb \
-    git \
-    google-perftools \
-    graphviz \
-    iproute2 \
-    iputils-ping \
-    lcov \
-    libblas-dev \
-    libssl-dev \
-    libboost-all-dev \
-    libcurl4-openssl-dev \
-    libfreetype6-dev \
-    liblapack-dev \
-    libpcap-dev \
-    libsqlite3-dev \
-    libgtest-dev \
-    locate \
-    lsof \
-    nfs-common \
-    python-autopep8 \
-    shellcheck \
-    software-properties-common \
-    sshfs \
-    subversion \
-    unzip \
-    uuid-dev \
-    v4l-utils \
-    vim \
-    wget \
-    libasound2-dev \
-    zip && \
-    apt-get clean && rm -rf /var/lib/apt/lists/* && \
-    echo '\n\n\n' | ssh-keygen -t rsa
+WORKDIR /apollo

-# Run installers.
-COPY installers /tmp/installers
 COPY archive /tmp/archive
-RUN bash /tmp/installers/install_adv_plat.sh
-RUN bash /tmp/installers/install_bazel.sh
-RUN bash /tmp/installers/install_bazel_packages.sh
-RUN bash /tmp/installers/install_bosfs.sh
-RUN bash /tmp/installers/install_conda.sh
-RUN bash /tmp/installers/install_ffmpeg.sh
-RUN bash /tmp/installers/install_gflags_glog.sh
-RUN bash /tmp/installers/install_glew.sh
-RUN bash /tmp/installers/install_google_styleguide.sh
-RUN bash /tmp/installers/install_gpu_caffe.sh
-RUN bash /tmp/installers/install_ipopt.sh
-RUN bash /tmp/installers/install_osqp.sh
-RUN bash /tmp/installers/install_libjsonrpc-cpp.sh
-RUN bash /tmp/installers/install_nlopt.sh
-RUN bash /tmp/installers/install_node.sh
-RUN bash /tmp/installers/install_openh264.sh
-RUN bash /tmp/installers/install_ota.sh
-RUN bash /tmp/installers/install_pcl.sh
-RUN bash /tmp/installers/install_poco.sh
-RUN bash /tmp/installers/install_protobuf.sh
-RUN bash /tmp/installers/install_python_modules.sh
-RUN bash /tmp/installers/install_qp_oases.sh
-RUN bash /tmp/installers/install_qt.sh
-RUN bash /tmp/installers/install_undistort.sh
-RUN bash /tmp/installers/install_yarn.sh
-RUN bash /tmp/installers/post_install.sh
-RUN bash /tmp/installers/install_opuslib.sh
+COPY installers /tmp/installers

-WORKDIR /apollo
+RUN bash /tmp/installers/install_geo_adjustment.sh ${GEOLOC}
+
+RUN bash /tmp/installers/install_modules_base.sh
+RUN bash /tmp/installers/install_gpu_support.sh ${INSTALL_MODE}
+
+RUN bash /tmp/installers/install_common_modules.sh ${INSTALL_MODE}
+
+RUN bash /tmp/installers/install_drivers_deps.sh ${INSTALL_MODE}
+RUN bash /tmp/installers/install_perception_deps.sh ${INSTALL_MODE}
+RUN bash /tmp/installers/install_dreamview_deps.sh ${GEOLOC}
+
+RUN bash /tmp/installers/install_contrib_deps.sh ${INSTALL_MODE}
+RUN bash /tmp/installers/install_3rdparty_pept_deps.sh ${INSTALL_MODE}
+
+RUN bash /tmp/installers/install_release_stage.sh
+
+RUN bash /tmp/installers/post_install.sh ${BUILD_STAGE}
--- a/docker/build/new_dev.x86_64.dockerfile
+++ b/docker/build/new_dev.x86_64.dockerfile
-FROM apolloauto/apollo:cyber-x86_64-18.04-20200629_0512
-
-ARG GEOLOC
-ARG BUILD_STAGE
-ARG INSTALL_MODE
-
-WORKDIR /apollo
-
-COPY archive /tmp/archive
-COPY installers /tmp/installers
-
-RUN bash /tmp/installers/install_geo_adjustment.sh ${GEOLOC}
-
-RUN bash /tmp/installers/install_modules_base.sh
-RUN bash /tmp/installers/install_gpu_support.sh ${INSTALL_MODE}
-
-RUN bash /tmp/installers/install_common_modules.sh ${INSTALL_MODE}
-
-RUN bash /tmp/installers/install_drivers_deps.sh ${INSTALL_MODE}
-RUN bash /tmp/installers/install_perception_deps.sh ${INSTALL_MODE}
-RUN bash /tmp/installers/install_dreamview_deps.sh ${GEOLOC}
-
-RUN bash /tmp/installers/install_contrib_deps.sh ${INSTALL_MODE}
-RUN bash /tmp/installers/install_3rdparty_pept_deps.sh ${INSTALL_MODE}
-
-RUN bash /tmp/installers/install_release_stage.sh
-
-RUN bash /tmp/installers/post_install.sh ${BUILD_STAGE}
--- a/docker/build/new_cyber.aarch64.dockerfile
+++ b/docker/build/new_cyber.aarch64.dockerfile
-FROM arm64v8/ubuntu:18.04
+FROM nvcr.io/nvidia/l4t-base:r32.4.2

 ARG BUILD_STAGE
 ARG GEOLOC