Docker拉取命令

docker pull swr.cn-north-4.myhuaweicloud.com/ddn-k8s/docker.io/dustynv/ros:humble-desktop-l4t-r36.4.0-linuxarm64
docker tag  swr.cn-north-4.myhuaweicloud.com/ddn-k8s/docker.io/dustynv/ros:humble-desktop-l4t-r36.4.0-linuxarm64  docker.io/dustynv/ros:humble-desktop-l4t-r36.4.0

Containerd拉取命令

ctr images pull swr.cn-north-4.myhuaweicloud.com/ddn-k8s/docker.io/dustynv/ros:humble-desktop-l4t-r36.4.0-linuxarm64
ctr images tag  swr.cn-north-4.myhuaweicloud.com/ddn-k8s/docker.io/dustynv/ros:humble-desktop-l4t-r36.4.0-linuxarm64  docker.io/dustynv/ros:humble-desktop-l4t-r36.4.0

Shell快速替换命令

sed -i 's#dustynv/ros:humble-desktop-l4t-r36.4.0#swr.cn-north-4.myhuaweicloud.com/ddn-k8s/docker.io/dustynv/ros:humble-desktop-l4t-r36.4.0-linuxarm64#' deployment.yaml

Ansible快速分发-Docker

#ansible k8s -m shell -a 'docker pull swr.cn-north-4.myhuaweicloud.com/ddn-k8s/docker.io/dustynv/ros:humble-desktop-l4t-r36.4.0-linuxarm64 && docker tag  swr.cn-north-4.myhuaweicloud.com/ddn-k8s/docker.io/dustynv/ros:humble-desktop-l4t-r36.4.0-linuxarm64  docker.io/dustynv/ros:humble-desktop-l4t-r36.4.0'

Ansible快速分发-Containerd

#ansible k8s -m shell -a 'ctr images pull swr.cn-north-4.myhuaweicloud.com/ddn-k8s/docker.io/dustynv/ros:humble-desktop-l4t-r36.4.0-linuxarm64 && ctr images tag  swr.cn-north-4.myhuaweicloud.com/ddn-k8s/docker.io/dustynv/ros:humble-desktop-l4t-r36.4.0-linuxarm64  docker.io/dustynv/ros:humble-desktop-l4t-r36.4.0'

镜像构建历史

# 2024-10-04 19:52:17  0.00B 
/bin/bash -c #(nop)  CMD ["/bin/bash"]
                        
# 2024-10-04 19:52:17  0.00B 
/bin/bash -c #(nop)  ENTRYPOINT ["/ros_entrypoint.sh"]
                        
# 2024-10-04 19:52:17  2.74KB 
/bin/bash -c #(nop) COPY multi:3ff2d2693a0122e94b7b649c522e6e3c57ed4ed3f7123413d92d6747c1dc7909 in / 
                        
# 2024-10-04 19:52:12  2.48GB 
|2 ROS_PACKAGE=desktop ROS_VERSION=humble /bin/bash -c /tmp/ros2_build.sh
                        
# 2024-10-04 18:54:46  4.93KB 
/bin/bash -c #(nop) COPY file:e765ff942c7b047346d1369d427cc80d172af10a62ddc2f8e097dedb71f8d817 in /tmp/ros2_build.sh 
                        
# 2024-10-04 18:54:46  133.84KB 
|2 ROS_PACKAGE=desktop ROS_VERSION=humble /bin/bash -c update-alternatives --install /usr/bin/python python /usr/bin/python3 1
                        
# 2024-10-04 18:54:45  0.00B 
/bin/bash -c #(nop)  SHELL [/bin/bash -c]
                        
# 2024-10-04 18:54:45  0.00B 
/bin/sh -c #(nop)  ENV ROS_DISTRO=humble ROS_ROOT=/opt/ros/humble ROS_PYTHON_VERSION=3 RMW_IMPLEMENTATION=rmw_fastrtps_cpp DEBIAN_FRONTEND=noninteractive SHELL=/bin/bash
                        
# 2024-10-04 18:54:45  0.00B 
/bin/sh -c #(nop)  ARG ROS_PACKAGE=ros_base ROS_VERSION=humble
                        
# 2024-10-04 18:54:45  61.23MB 
/bin/sh -c set -ex     && pip3 install --upgrade --force-reinstall --no-cache-dir --verbose cmake         && cmake --version     && which cmake
                        
# 2024-10-04 18:54:34  1.25GB 
|3 CUDA_ARCH_BIN=8.7 FORCE_BUILD=off OPENCV_PYTHON=4.x /bin/sh -c cd /tmp/opencv && ./install.sh || ./build.sh || echo "BUILD FAILED (OpenCV ${OPENCV_VERSION})"
                        
# 2024-10-04 18:52:00  9.25KB 
/bin/sh -c #(nop) COPY multi:531853c8bbb53c6b3c4cfbe77c6a199483b4591db61ea90060c5dc33d07b34bc in /tmp/opencv/ 
                        
# 2024-10-04 18:52:00  0.00B 
/bin/sh -c #(nop)  ENV OPENCV_VERSION=4.10.0 OPENCV_URL=
                        
# 2024-10-04 18:02:34  0.00B 
/bin/sh -c #(nop)  ARG OPENCV_VERSION OPENCV_PYTHON OPENCV_URL CUDA_ARCH_BIN FORCE_BUILD=off
                        
# 2024-10-04 18:02:33  56.19MB 
/bin/sh -c pip3 install --upgrade --force-reinstall --no-cache-dir --verbose 'numpy<2' &&     pip3 show numpy && python3 -c 'import numpy; print(numpy.__version__)'
                        
# 2024-10-04 18:02:26  0.00B 
/bin/sh -c #(nop)  ENV OPENBLAS_CORETYPE=ARMV8
                        
# 2024-10-04 18:02:24  1.09GB 
|1 TENSORRT_URL=https://developer.nvidia.com/downloads/compute/machine-learning/tensorrt/10.4.0/tars/TensorRT-10.4.0.26.l4t.aarch64-gnu.cuda-12.6.tar.gz /bin/sh -c cd /tmp/tensorrt &&     cp -r /usr/src/tensorrt/lib/* /usr/lib/$(uname -m)-linux-gnu/ &&     cp -r /usr/src/tensorrt/include/* /usr/include/$(uname -m)-linux-gnu/ &&     PY_VERSION=$(python3 -c 'import sys; print(f"{sys.version_info.major}{sys.version_info.minor}")') &&     pip3 install --verbose --no-cache-dir /usr/src/tensorrt/python/tensorrt-*-cp${PY_VERSION}-*.whl &&     rm -rf /tmp/tensorrt
                        
# 2024-10-04 18:02:10  1.96GB 
|1 TENSORRT_URL=https://developer.nvidia.com/downloads/compute/machine-learning/tensorrt/10.4.0/tars/TensorRT-10.4.0.26.l4t.aarch64-gnu.cuda-12.6.tar.gz /bin/sh -c set -ex &&     echo "Downloading ${TENSORRT_URL}" &&     mkdir -p /tmp/tensorrt &&     cd /tmp/tensorrt &&     wget --quiet --show-progress --progress=bar:force:noscroll ${TENSORRT_URL} -O TensorRT.tar &&     tar -xvf TensorRT.tar -C /usr/src &&     mv /usr/src/TensorRT-* /usr/src/tensorrt
                        
# 2024-10-04 18:01:24  0.00B 
/bin/sh -c #(nop)  ARG TENSORRT_URL
                        
# 2024-10-04 11:01:04  69.44MB 
|1 PYTHON_VERSION_ARG=3.10 /bin/sh -c /tmp/install_python.sh
                        
# 2024-10-04 11:00:20  1.44KB 
/bin/sh -c #(nop) COPY file:567bc8701a4440a44bd9918927bbaa7df4695f530fcd496d1b5c148beafd34cc in /tmp/install_python.sh 
                        
# 2024-10-04 10:03:30  0.00B 
/bin/sh -c #(nop)  ENV PYTHON_VERSION=3.10 PIP_DISABLE_PIP_VERSION_CHECK=on PIP_DEFAULT_TIMEOUT=100 PYTHONFAULTHANDLER=1 PYTHONUNBUFFERED=1 PYTHONIOENCODING=utf-8 PYTHONHASHSEED=random PIP_NO_CACHE_DIR=off PIP_CACHE_PURGE=true PIP_ROOT_USER_ACTION=ignore TWINE_NON_INTERACTIVE=1 DEBIAN_FRONTEND=noninteractive
                        
# 2024-10-04 10:03:30  0.00B 
/bin/sh -c #(nop)  ARG PYTHON_VERSION_ARG
                        
# 2024-10-04 10:03:29  656.73KB 
|3 CUDNN_DEB=cudnn-local-tegra-repo-ubuntu2204-9.4.0 CUDNN_PACKAGES=libcudnn*-dev libcudnn*-samples CUDNN_URL=https://developer.download.nvidia.com/compute/cudnn/9.4.0/local_installers/cudnn-local-tegra-repo-ubuntu2204-9.4.0_1.0-1_arm64.deb /bin/sh -c cd /usr/src/cudnn_samples_v*/conv_sample/ &&     make -j$(nproc)
                        
# 2024-10-04 10:03:16  996.12MB 
|3 CUDNN_DEB=cudnn-local-tegra-repo-ubuntu2204-9.4.0 CUDNN_PACKAGES=libcudnn*-dev libcudnn*-samples CUDNN_URL=https://developer.download.nvidia.com/compute/cudnn/9.4.0/local_installers/cudnn-local-tegra-repo-ubuntu2204-9.4.0_1.0-1_arm64.deb /bin/sh -c echo "Downloading ${CUDNN_DEB}" &&     mkdir /tmp/cudnn && cd /tmp/cudnn &&     wget --quiet --show-progress --progress=bar:force:noscroll ${CUDNN_URL} &&     dpkg -i *.deb &&     cp /var/cudnn-local-tegra-repo-*/cudnn-local-tegra-*-keyring.gpg /usr/share/keyrings/ &&     apt-get update &&     apt-cache search cudnn &&     apt-get install -y --no-install-recommends ${CUDNN_PACKAGES} &&     rm -rf /var/lib/apt/lists/* &&     apt-get clean &&     dpkg --list | grep cudnn &&     dpkg -P ${CUDNN_DEB} &&     rm -rf /tmp/cudnn
                        
# 2024-10-04 10:01:58  0.00B 
/bin/sh -c #(nop)  ARG CUDNN_PACKAGES
                        
# 2024-10-04 10:01:58  0.00B 
/bin/sh -c #(nop)  ARG CUDNN_DEB
                        
# 2024-10-04 10:01:58  0.00B 
/bin/sh -c #(nop)  ARG CUDNN_URL
                        
# 2024-10-04 10:01:57  0.00B 
/bin/sh -c #(nop) WORKDIR /
                        
# 2024-10-04 10:01:57  0.00B 
/bin/sh -c #(nop)  ENV NVIDIA_VISIBLE_DEVICES=all NVIDIA_DRIVER_CAPABILITIES=all CUDAARCHS=87 CUDA_ARCHITECTURES=87 CUDA_HOME=/usr/local/cuda CUDNN_LIB_PATH=/usr/lib/aarch64-linux-gnu CUDNN_LIB_INCLUDE_PATH=/usr/include CMAKE_CUDA_COMPILER=/usr/local/cuda/bin/nvcc CUDA_NVCC_EXECUTABLE=/usr/local/cuda/bin/nvcc CUDACXX=/usr/local/cuda/bin/nvcc TORCH_NVCC_FLAGS=-Xfatbin -compress-all CUDA_BIN_PATH=/usr/local/cuda/bin CUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda PATH=/usr/local/cuda/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin LD_LIBRARY_PATH=/usr/local/cuda/compat:/usr/local/cuda/lib64: DEBIAN_FRONTEND=noninteractive
                        
# 2024-10-04 10:01:57  0.00B 
/bin/sh -c #(nop)  ENV NVCC_PATH=/usr/local/cuda/bin/nvcc
                        
# 2024-10-04 10:01:56  0.00B 
/bin/sh -c #(nop)  ENV CUDA_HOME=/usr/local/cuda
                        
# 2024-10-04 10:01:53  5.19GB 
|5 CUDA_ARCH_LIST=87 CUDA_DEB=cuda-tegra-repo-ubuntu2204-12-6-local CUDA_PACKAGES=cuda-toolkit* CUDA_URL=https://developer.download.nvidia.com/compute/cuda/12.6.2/local_installers/cuda-tegra-repo-ubuntu2204-12-6-local_12.6.2-1_arm64.deb DISTRO=ubuntu2204 /bin/sh -c /tmp/install_cuda.sh
                        
# 2024-09-30 17:03:08  894.00B 
/bin/sh -c #(nop) COPY file:4688f070ce9fd499963f7be4fc8a47addb43e87261c4168cebeebf5923452502 in /tmp/install_cuda.sh 
                        
# 2024-09-30 17:03:08  0.00B 
/bin/sh -c #(nop)  ARG CUDA_URL CUDA_DEB CUDA_PACKAGES CUDA_ARCH_LIST DISTRO=ubuntu2004
                        
# 2024-09-30 17:03:08  0.00B 
/bin/sh -c #(nop)  ENV TAR_INDEX_URL=http://jetson.webredirect.org:8000/jp6/cu126 PIP_INDEX_URL=http://jetson.webredirect.org/jp6/cu126 PIP_TRUSTED_HOST=jetson.webredirect.org TWINE_REPOSITORY_URL=http://jao-51/jp6/cu126 TWINE_USERNAME=jp6 TWINE_PASSWORD=NvidiaJetson24 SCP_UPLOAD_URL=jao-51:/dist/jp6/cu126 SCP_UPLOAD_USER=nvidia SCP_UPLOAD_PASS=nvidia
                        
# 2024-09-30 17:03:08  0.00B 
/bin/sh -c #(nop)  ARG PIP_INDEX_REPO PIP_UPLOAD_REPO PIP_UPLOAD_USER PIP_UPLOAD_PASS PIP_TRUSTED_HOSTS TAR_INDEX_URL SCP_UPLOAD_URL SCP_UPLOAD_USER SCP_UPLOAD_PASS
                        
# 2024-09-30 17:03:08  1.77KB 
/bin/sh -c #(nop) COPY file:c151096ecdec41c0e751df4f9131773ddaf0b0074b72388cc344129a04329635 in /usr/local/bin/ 
                        
# 2024-09-30 17:03:07  654.07MB 
/bin/sh -c set -ex     && apt-get update     && apt-get install -y --no-install-recommends         locales         locales-all         tzdata     && locale-gen en_US $LANG     && update-locale LC_ALL=$LC_ALL LANG=$LANG     && locale         && apt-get install -y --no-install-recommends         build-essential         software-properties-common         apt-transport-https         ca-certificates         lsb-release         pkg-config         gnupg         git         gdb         wget         curl         nano         zip         unzip         time 	   sshpass 	   ssh-client     && apt-get clean     && rm -rf /var/lib/apt/lists/*         && gcc --version     && g++ --version
                        
# 2024-09-30 17:01:35  0.00B 
/bin/sh -c #(nop)  ENV DEBIAN_FRONTEND=noninteractive LANGUAGE=en_US:en LANG=en_US.UTF-8 LC_ALL=en_US.UTF-8
                        
# 2024-09-12 00:26:06  0.00B 
/bin/sh -c #(nop)  CMD ["/bin/bash"]
                        
# 2024-09-12 00:26:06  69.22MB 
/bin/sh -c #(nop) ADD file:53ce73ebbd6d87a234a33414686f12909aaaf28b7238593f746a327c7d004ce7 in / 
                        
# 2024-09-12 00:26:04  0.00B 
/bin/sh -c #(nop)  LABEL org.opencontainers.image.version=22.04
                        
# 2024-09-12 00:26:04  0.00B 
/bin/sh -c #(nop)  LABEL org.opencontainers.image.ref.name=ubuntu
                        
# 2024-09-12 00:26:04  0.00B 
/bin/sh -c #(nop)  ARG LAUNCHPAD_BUILD_ARCH
                        
# 2024-09-12 00:26:04  0.00B 
/bin/sh -c #(nop)  ARG RELEASE
                        
                    

镜像信息

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    "RepoTags": [
        "dustynv/ros:humble-desktop-l4t-r36.4.0",
        "swr.cn-north-4.myhuaweicloud.com/ddn-k8s/docker.io/dustynv/ros:humble-desktop-l4t-r36.4.0-linuxarm64"
    ],
    "RepoDigests": [
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        "swr.cn-north-4.myhuaweicloud.com/ddn-k8s/docker.io/dustynv/ros@sha256:b39f496e9fc1b5704949953def6265b536b01a94a0b3b877a8f9807e8761f776"
    ],
    "Parent": "",
    "Comment": "",
    "Created": "2024-10-04T11:52:17.634743234Z",
    "Container": "",
    "ContainerConfig": null,
    "DockerVersion": "24.0.7",
    "Author": "",
    "Config": {
        "Hostname": "",
        "Domainname": "",
        "User": "",
        "AttachStdin": false,
        "AttachStdout": false,
        "AttachStderr": false,
        "Tty": false,
        "OpenStdin": false,
        "StdinOnce": false,
        "Env": [
            "PATH=/usr/local/cuda/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin",
            "DEBIAN_FRONTEND=noninteractive",
            "LANGUAGE=en_US:en",
            "LANG=en_US.UTF-8",
            "LC_ALL=en_US.UTF-8",
            "TAR_INDEX_URL=http://jetson.webredirect.org:8000/jp6/cu126",
            "PIP_INDEX_URL=http://jetson.webredirect.org/jp6/cu126",
            "PIP_TRUSTED_HOST=jetson.webredirect.org",
            "TWINE_REPOSITORY_URL=http://jao-51/jp6/cu126",
            "TWINE_USERNAME=jp6",
            "TWINE_PASSWORD=NvidiaJetson24",
            "SCP_UPLOAD_URL=jao-51:/dist/jp6/cu126",
            "SCP_UPLOAD_USER=nvidia",
            "SCP_UPLOAD_PASS=nvidia",
            "CUDA_HOME=/usr/local/cuda",
            "NVCC_PATH=/usr/local/cuda/bin/nvcc",
            "NVIDIA_VISIBLE_DEVICES=all",
            "NVIDIA_DRIVER_CAPABILITIES=all",
            "CUDAARCHS=87",
            "CUDA_ARCHITECTURES=87",
            "CUDNN_LIB_PATH=/usr/lib/aarch64-linux-gnu",
            "CUDNN_LIB_INCLUDE_PATH=/usr/include",
            "CMAKE_CUDA_COMPILER=/usr/local/cuda/bin/nvcc",
            "CUDA_NVCC_EXECUTABLE=/usr/local/cuda/bin/nvcc",
            "CUDACXX=/usr/local/cuda/bin/nvcc",
            "TORCH_NVCC_FLAGS=-Xfatbin -compress-all",
            "CUDA_BIN_PATH=/usr/local/cuda/bin",
            "CUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda",
            "LD_LIBRARY_PATH=/usr/local/cuda/compat:/usr/local/cuda/lib64:",
            "PYTHON_VERSION=3.10",
            "PIP_DISABLE_PIP_VERSION_CHECK=on",
            "PIP_DEFAULT_TIMEOUT=100",
            "PYTHONFAULTHANDLER=1",
            "PYTHONUNBUFFERED=1",
            "PYTHONIOENCODING=utf-8",
            "PYTHONHASHSEED=random",
            "PIP_NO_CACHE_DIR=off",
            "PIP_CACHE_PURGE=true",
            "PIP_ROOT_USER_ACTION=ignore",
            "TWINE_NON_INTERACTIVE=1",
            "OPENBLAS_CORETYPE=ARMV8",
            "OPENCV_VERSION=4.10.0",
            "OPENCV_URL=",
            "ROS_DISTRO=humble",
            "ROS_ROOT=/opt/ros/humble",
            "ROS_PYTHON_VERSION=3",
            "RMW_IMPLEMENTATION=rmw_fastrtps_cpp",
            "SHELL=/bin/bash"
        ],
        "Cmd": [
            "/bin/bash"
        ],
        "Image": "sha256:d330f4d89eb167d9d006fcc31462c5f1afa6113254ed8280435d2bf60baa6356",
        "Volumes": null,
        "WorkingDir": "/",
        "Entrypoint": [
            "/ros_entrypoint.sh"
        ],
        "OnBuild": null,
        "Labels": {
            "org.opencontainers.image.ref.name": "ubuntu",
            "org.opencontainers.image.version": "22.04"
        },
        "Shell": [
            "/bin/bash",
            "-c"
        ]
    },
    "Architecture": "arm64",
    "Variant": "v8",
    "Os": "linux",
    "Size": 13879528458,
    "GraphDriver": {
        "Data": {
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            "WorkDir": "/var/lib/docker/overlay2/d3832b0c6190136b69b169f09e01fc5ab25f7c6aeec8cb2a1f730757c300a934/work"
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        "Name": "overlay2"
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    "RootFS": {
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