Version 3.3.0

CHANGELOG

@@ -5,6 +5,20 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
+## [3.3.0] - 2026-02-17
+
+### Added
+- Added `miniconda` support
+- Added CUDA 12.6.3 and cuDNN 9.5.1.17 support for Ubuntu 24.04
+
+### Fixed
+- Fixed the command that was listing the available cuDNN support
+- Fixed the `cuda_devel.txt` to actually support Ubuntu 24.04 onwards by moving `libtinfo5` and `libncursesw5` out of it and adding it to the python generation function
+- Fixed `is_cuda_version_supported()` not using directly 'ubuntu_version' as it was already the 'flat' version
+
+### Changed
+- Changed the base image of NVIDIA builds. Now we just use ubuntu images as base images and not `nvidia/opengl`
+
 ## [3.2.0] - 2025-05-09
 
 ### Added

examples/noetic_nvidia_custom.yaml

@@ -21,12 +21,13 @@ cudnn_version: 8.9.6.50
 
 # Define here extra packages to be installed.
 # Supported are:
-#   tmux      Supports also custom version: Check version tags at https://github.com/tmux/tmux.git
-#   llvm      Supports also custom version: Check version tags at https://apt.llvm.org/
-#   vscode    Version is whatever latest is available
-#   conan     Version is whatever latest is available
-#   cpplint   Version is whatever latest is available
-#   meld      Version is whatever latest is available
+#   tmux       Supports also custom version: Check version tags at https://github.com/tmux/tmux.git
+#   llvm       Supports also custom version: Check version tags at https://apt.llvm.org/
+#   vscode     Version is whatever latest is available
+#   conan      Version is whatever latest is available
+#   cpplint    Version is whatever latest is available
+#   meld       Version is whatever latest is available
+#   miniconda  Version is whatever latest is available
 #
 # Packages that are anyway installed but support a custom version:
 #   cmake     Check https://github.com/Kitware/CMake.git

pyproject.toml

@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "turludock"
-version = "3.2.0"
+version = "3.3.0"
 description = "Builds ROS docker images that support GUI with either X11 or Wayland."
 authors = [
     "Athanasios <dev@tasoglou.net>",

turludock/assets/config_files/nvidia_cuda.yaml

@@ -1,3 +1,23 @@
+# https://gitlab.com/nvidia/container-images/cuda/-/tree/master/dist/12.6.3
+'12.6.3':
+  ubuntu2404:
+    cudnn_version: '9.5.1.17'
+    compat: 12-6
+    cudart: 12-6=12.6.77-1
+    nvidia_require_cuda: "cuda>=12.6 brand=unknown,driver>=470,driver<471 brand=grid,driver>=470,driver<471 brand=tesla,driver>=470,driver<471 brand=nvidia,driver>=470,driver<471 brand=quadro,driver>=470,driver<471 brand=quadrortx,driver>=470,driver<471 brand=nvidiartx,driver>=470,driver<471 brand=vapps,driver>=470,driver<471 brand=vpc,driver>=470,driver<471 brand=vcs,driver>=470,driver<471 brand=vws,driver>=470,driver<471 brand=cloudgaming,driver>=470,driver<471 brand=unknown,driver>=535,driver<536 brand=grid,driver>=535,driver<536 brand=tesla,driver>=535,driver<536 brand=nvidia,driver>=535,driver<536 brand=quadro,driver>=535,driver<536 brand=quadrortx,driver>=535,driver<536 brand=nvidiartx,driver>=535,driver<536 brand=vapps,driver>=535,driver<536 brand=vpc,driver>=535,driver<536 brand=vcs,driver>=535,driver<536 brand=vws,driver>=535,driver<536 brand=cloudgaming,driver>=535,driver<536 brand=unknown,driver>=550,driver<551 brand=grid,driver>=550,driver<551 brand=tesla,driver>=550,driver<551 brand=nvidia,driver>=550,driver<551 brand=quadro,driver>=550,driver<551 brand=quadrortx,driver>=550,driver<551 brand=nvidiartx,driver>=550,driver<551 brand=vapps,driver>=550,driver<551 brand=vpc,driver>=550,driver<551 brand=vcs,driver>=550,driver<551 brand=vws,driver>=550,driver<551 brand=cloudgaming,driver>=550,driver<551"
+    cuda_lib: 12-6=12.6.3-1
+    nvml: 12-6=12.6.77-1
+    nvprof: 12-6=12.6.80-1
+    libnpp: 12-6=12.3.1.54-1
+    libcusparse: 12-6=12.5.4.2-1
+    libcublas: 12-6=12.6.4.1-1
+    libnccl: 2.23.4-1+cuda12.6
+    nsight_compute: 12-6=12.6.3-1
+    nvtx: 12-6=12.6.77-1
+    nvidia_base_url: https://gitlab.com/nvidia/container-images/cuda/-/blob/master/dist/12.6.3/ubuntu2404/base/Dockerfile
+    nvidia_devel_url: https://gitlab.com/nvidia/container-images/cuda/-/blob/master/dist/12.6.3/ubuntu2404/devel/Dockerfile
+    nvidia_runtime_url: https://gitlab.com/nvidia/container-images/cuda/-/blob/master/dist/12.6.3/ubuntu2404/runtime/Dockerfile
+
 # https://gitlab.com/nvidia/container-images/cuda/-/tree/master/dist/12.4.1
 '12.4.1':
   ubuntu2004:

turludock/assets/config_files/nvidia_cudnn.yaml

@@ -16,4 +16,15 @@
     libcudnn_version: 8.9.6.50
     libcudnn_revision: -1+cuda11.8
     nvidia_devel_url: https://gitlab.com/nvidia/container-images/cuda/-/blob/master/dist/11.8.0/ubuntu2204/devel/cudnn8/Dockerfile
-    nvidia_runtime_url: https://gitlab.com/nvidia/container-images/cuda/-/blob/master/dist/11.8.0/ubuntu2204/runtime/cudnn8/Dockerfile
+    nvidia_runtime_url: https://gitlab.com/nvidia/container-images/cuda/-/blob/master/dist/11.8.0/ubuntu2204/runtime/cudnn8/Dockerfile
+
+'9.5.1.17':
+  ubuntu2404:
+    cuda_version:
+      - '12.6.3'
+    libcudnn_package: libcudnn9-cuda-12
+    libcudnn_dev_package: libcudnn9-dev-cuda-12
+    libcudnn_version: 9.5.1.17
+    libcudnn_revision: '-1'
+    nvidia_devel_url: https://gitlab.com/nvidia/container-images/cuda/-/blob/master/dist/12.6.3/ubuntu2404/devel/cudnn/Dockerfile
+    nvidia_runtime_url: https://gitlab.com/nvidia/container-images/cuda/-/blob/master/dist/12.6.3/ubuntu2404/runtime/cudnn/Dockerfile

turludock/assets/default_image_configurations/jazzy_nvidia_cuda.yaml

@@ -0,0 +1,15 @@
+# Select ROS version.
+ros_version: jazzy
+
+# Select which GPU driver your host-machine uses for its GUIs.
+gpu_driver: nvidia
+
+# CUDA and CUDNN configuration (if applicable)
+cuda_version: 12.6.3
+
+# Define here extra packages to be installed.
+extra_packages:
+  - cmake: v3.29.3
+  - tmux: 3.4
+  - llvm: 18
+  - meld

turludock/assets/default_image_configurations/jazzy_nvidia_cudnn.yaml

@@ -0,0 +1,16 @@
+# Select ROS version.
+ros_version: jazzy
+
+# Select which GPU driver your host-machine uses for its GUIs.
+gpu_driver: nvidia
+
+# CUDA and CUDNN configuration (if applicable)
+cuda_version: 12.6.3
+cudnn_version: 9.5.1.17
+
+# Define here extra packages to be installed.
+extra_packages:
+  - cmake: v3.29.3
+  - tmux: 3.4
+  - llvm: 18
+  - meld

turludock/assets/dockerfile_templates/common_env_config.txt

@@ -1,2 +1,2 @@
 # Install packages without prompting the user to answer any questions
-ENV DEBIAN_FRONTEND noninteractive 
+ENV DEBIAN_FRONTEND=noninteractive 

turludock/assets/dockerfile_templates/header_info.txt

@@ -1,4 +1,4 @@
 # Common maintainer and meta-data info
-MAINTAINER Athanasios Tasoglou <dev@tasoglou.net>
+LABEL maintainer="Athanasios Tasoglou <dev@tasoglou.net>"
 LABEL Description="$docker_label_description" Vendor="TurluCode"
 LABEL com.turlucode.ros.version="$ros_version_short"

turludock/assets/dockerfile_templates/locale.txt

@@ -1,5 +1,5 @@
 # Update locale
 RUN locale-gen en_US.UTF-8  
-ENV LANG en_US.UTF-8  
-ENV LANGUAGE en_US:en  
-ENV LC_ALL en_US.UTF-8
+ENV LANG=en_US.UTF-8  
+ENV LANGUAGE=en_US:en  
+ENV LC_ALL=en_US.UTF-8

turludock/assets/dockerfile_templates/miniconda.txt

@@ -0,0 +1,13 @@
+# Install latest stable Miniconda (Python 3.x)
+ENV CONDA_DIR=/opt/conda
+ENV PATH=$CONDA_DIR/bin:$PATH
+
+RUN apt-get update && apt-get install -y curl bzip2 && \
+    curl -fsSL https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -o /tmp/miniconda.sh && \
+    bash /tmp/miniconda.sh -b -p $CONDA_DIR && \
+    rm /tmp/miniconda.sh && \
+    $CONDA_DIR/bin/conda clean -afy && \
+    ln -s $CONDA_DIR/etc/profile.d/conda.sh /etc/profile.d/conda.sh && \
+    echo ". $CONDA_DIR/etc/profile.d/conda.sh" >> /root/.bashrc && \
+    echo ". $CONDA_DIR/etc/profile.d/conda.sh" >> /root/.zshrc && \
+    apt-get clean && rm -rf /var/lib/apt/lists/*

turludock/assets/dockerfile_templates/nvidia/cuda_base.txt

@@ -1,8 +1,8 @@
 # CUDA base
 # Setup environmental variables
-ENV CUDA_VERSION $cuda_version
-ENV NVARCH x86_64
-ENV NVIDIA_REQUIRE_CUDA "$nvidia_require_cuda"
+ENV CUDA_VERSION=$cuda_version
+ENV NVARCH=x86_64
+ENV NVIDIA_REQUIRE_CUDA="$nvidia_require_cuda"
 
 RUN apt-get update && apt-get install -y --no-install-recommends \
     gnupg2 ca-certificates && \
@@ -20,12 +20,12 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 RUN echo "/usr/local/nvidia/lib" >> /etc/ld.so.conf.d/nvidia.conf \
     && echo "/usr/local/nvidia/lib64" >> /etc/ld.so.conf.d/nvidia.conf
 
-ENV PATH /usr/local/nvidia/bin:/usr/local/cuda/bin:$${PATH}
-ENV LD_LIBRARY_PATH /usr/local/nvidia/lib:/usr/local/nvidia/lib64
+ENV PATH=/usr/local/nvidia/bin:/usr/local/cuda/bin:$${PATH}
+ENV LD_LIBRARY_PATH=/usr/local/nvidia/lib:/usr/local/nvidia/lib64
 
 # TODO: Needed?
 # COPY NGC-DL-CONTAINER-LICENSE /
 
 # nvidia-container-runtime
-ENV NVIDIA_VISIBLE_DEVICES all
-ENV NVIDIA_DRIVER_CAPABILITIES compute,utility
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=compute,utility

turludock/assets/dockerfile_templates/nvidia/cuda_devel.txt

@@ -1,6 +1,5 @@
 # CUDA devel
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    libtinfo5 libncursesw5 \
     cuda-cudart-dev-$cuda_cudart_version \
     cuda-command-line-tools-$cuda_lib_version \
     cuda-minimal-build-$cuda_lib_version \
@@ -17,4 +16,4 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 
 # Keep apt from auto upgrading the cublas and nccl packages. See https://gitlab.com/nvidia/container-images/cuda/-/issues/88
 RUN apt-mark hold libcublas-dev-$cuda_libcublas_version libnccl-dev
-ENV LIBRARY_PATH /usr/local/cuda/lib64/stubs
+ENV LIBRARY_PATH=/usr/local/cuda/lib64/stubs

turludock/config_sanity.py

@@ -145,7 +145,7 @@ def check_extra_packages(config: Dict[str, Any]) -> None:
         logger.debug("No extra_packages have been configured in the .yaml file.")
         return
     supported_by_default = ["cmake"]
-    supported_values = ["tmux", "llvm", "vscode", "conan", "meld", "cpplint"]
+    supported_values = ["tmux", "llvm", "vscode", "conan", "meld", "cpplint", "miniconda"]
     supported_values += supported_by_default
     check_against_known_list(config, dict_key, supported_values)
 
@@ -168,15 +168,15 @@ def is_cuda_version_supported(cuda_version: str, ubuntu_version: str) -> bool:
         else:
             logger.error(f"Did not find supported ubuntu version '{ubuntu_version}' for cuda-{cuda_version}")
             supported_cuda_versions = list()
-            for cuda_version in cuda_config:
-                if ubuntu_version["flat"] in cuda_config[cuda_version]:
-                    supported_cuda_versions.append(cuda_version)
+            for candidate_version in cuda_config:
+                if ubuntu_version in cuda_config[candidate_version]:
+                    supported_cuda_versions.append(candidate_version)
             if len(supported_cuda_versions) == 0:
-                logger.error(f"'cuda_version: {cuda_config['cuda_version']}' not supported at all!")
+                logger.error(f"'cuda_version: {cuda_version}' not supported at all!")
             else:
                 logger.error(
-                    f"cuda_version: {cuda_config['cuda_version']}' not supported. Supported are "
-                    + f"{supported_cuda_versions} for Ubuntu {ubuntu_version['semantic']}"
+                    f"'cuda_version: {cuda_version}' not supported. Supported are "
+                    + f"{supported_cuda_versions} for Ubuntu {ubuntu_version}"
                 )
             return False
     else:

turludock/generate_dockerfile.py

@@ -13,6 +13,7 @@
     generate_locale,
     generate_meld,
     generate_mesa,
+    generate_miniconda,
     generate_ohmyzsh,
     generate_python,
     generate_terminator,
@@ -238,6 +239,8 @@ def generate_dockerfile(yaml_config: Dict[str, Any]) -> str:
                 dockerfile += generate_conan()
             if package_name == "vscode":
                 dockerfile += generate_vscode()
+            if package_name == "miniconda":
+                dockerfile += generate_miniconda()
 
             extra_packages_label_list.append(package_name)
     else:

turludock/generate_non_templated_files.py

@@ -141,3 +141,12 @@ def generate_mesa(use_latest: bool = True) -> str:
     else:
         filename = "mesa.txt"
     return get_non_templated_file(filename)
+
+
+def generate_miniconda() -> str:
+    """Get miniconda.txt a string
+
+    Returns:
+        str: The mesa Dockerfile instructions as a string
+    """
+    return get_non_templated_file("miniconda.txt")

turludock/generate_nvidia_templated_files.py

@@ -84,6 +84,14 @@ def generate_cuda_devel(cuda_version: str, ubuntu_version: str) -> str:
         src = Template(f.read())
         str_output = src.substitute(mapping)
     str_output += "\n\n"
+
+    # Only for Ubuntu 20.04 we need to install extra "libtinfo5" and "libncursesw5"
+    if ubuntu_version == "ubuntu2004":
+        str_output = str_output.replace(
+            "RUN apt-get update && apt-get install -y --no-install-recommends \\",
+            "RUN apt-get update && apt-get install -y --no-install-recommends \\\n    libtinfo5 libncursesw5 \\",
+        )
+
     return str_output
 
 

turludock/generate_templated_files.py

@@ -14,7 +14,6 @@
     get_ros_major_version,
     get_ubuntu_version,
     is_version_greater,
-    is_version_lower,
 )
 
 
@@ -42,26 +41,6 @@ def populate_templated_file(mapping: Dict[str, str], templated_file: str) -> str
         print(f"An unexpected error occurred at function `populate_templated_file`: {e}")
 
 
-def _get_ubuntu_base_image(version: str, nvidia: bool) -> str:
-    """Get the base image for the Docker build. It is used in "FROM <base_image>".
-
-    Args:
-        version (str): The semantic version of Ubuntu
-        nvidia (bool): Whether the NVIDIA GPU driver is being used
-
-    Returns:
-        str: The Docker image name to use as the base image.
-    """
-    if nvidia:
-        if is_version_lower(version, "16.04"):
-            raise ValueError(f"Ubuntu version lower than 16.04 is not supported. You provided: {version}")
-
-        # TODO(ATA): Not sure nvidia/opengl is really needed. Can we not just use 'ubuntu' with nvidia-docker-v2?
-        return f"nvidia/opengl:1.2-glvnd-runtime-ubuntu{version}"
-    else:
-        return f"ubuntu:{version}"
-
-
 def _get_base_image(yaml_config: Dict[str, Any]) -> str:
     """Return the supported base image name.
 
@@ -74,19 +53,7 @@ def _get_base_image(yaml_config: Dict[str, Any]) -> str:
         str: The base image name.
     """
     ubuntu_version = get_ubuntu_version(yaml_config["ros_version"])
-    if yaml_config["gpu_driver"] == "nvidia":
-        uses_nvidia = True
-        # Temp fix until nvidia releases nvidia/opengl for Ubuntu 24.04
-        if is_version_greater(ubuntu_version["semantic"], "23.04"):
-            uses_nvidia = False
-            logger.warning(
-                "'nvidia/opengl:1.2-glvnd-runtime' does not exist yet for Ubuntu 24.04. "
-                + "Using 'ubuntu:20.04' as base image instead. This is experimental. "
-                + "Please report any issues faced."
-            )
-    else:
-        uses_nvidia = False
-    return _get_ubuntu_base_image(ubuntu_version["semantic"], uses_nvidia)
+    return f'ubuntu:{ubuntu_version["semantic"]}'
 
 
 def generate_from(yaml_config: Dict[str, Any]) -> str:

turludock/which_command.py

@@ -130,7 +130,7 @@ def list_cuda_support(ros_codename: str) -> None:
                 found_supported = True
                 for cudnn_version in cudnn_config:
                     if ubuntu_version["flat"] in cudnn_config[cudnn_version]:
-                        if cudnn_config[cudnn_version][ubuntu_version["flat"]]:
+                        if cuda_version in cudnn_config[cudnn_version][ubuntu_version["flat"]]["cuda_version"]:
                             logger.info(f"*CUDA: {cuda_version} | cuDNN: {cudnn_version}")
         if not found_supported:
             logger.warning(f"No supported CUDA/cuDNN version for ROS {ros_codename.capitalize()} at this point.")