From b8641ad3c754820193df854501fa18f492d4ed91 Mon Sep 17 00:00:00 2001 From: mich-pest Date: Thu, 19 Mar 2026 17:31:49 +0100 Subject: [PATCH 1/3] Cuda update to v13 --- docker/Dockerfile.x64 | 10 +++++----- docs/source/getting_started/installation.rst | 4 ++-- requirements.txt | 2 +- 3 files changed, 8 insertions(+), 8 deletions(-) diff --git a/docker/Dockerfile.x64 b/docker/Dockerfile.x64 index e421f90f..7d6e5a25 100644 --- a/docker/Dockerfile.x64 +++ b/docker/Dockerfile.x64 @@ -3,7 +3,7 @@ # ───────────────────────────────────────────────────────────────────────────── # Stage 1 – base: CUDA + ROS2 + locale/timezone # ───────────────────────────────────────────────────────────────────────────── -FROM nvidia/cuda:12.1.1-cudnn8-devel-ubuntu22.04 AS base +FROM nvidia/cuda:13.2.0-cudnn-runtime-ubuntu22.04 AS base LABEL description="ROS2 Humble + CUDA – elevation_mapping_cupy baked in" LABEL version="2.0" @@ -74,8 +74,8 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ libcgal-dev \ && apt-get clean && rm -rf /var/lib/apt/lists/* -# ── PyTorch (CUDA 12.1 wheel) ──────────────────────────────────────────────── -RUN python3 -m pip install -U --extra-index-url https://download.pytorch.org/whl/cu121 \ +# ── PyTorch (latest official CUDA wheel line; no CUDA 13 wheel yet) ───────── +RUN python3 -m pip install -U --extra-index-url https://download.pytorch.org/whl/cu126 \ torch torchvision torchaudio # ── General Python packages ────────────────────────────────────────────────── @@ -91,7 +91,7 @@ RUN if [ "$INSTALL_EMCUPY_ROSDEPS" = "true" ]; then \ python3 -m pip install \ scikit-learn \ opencv-python \ - cupy-cuda12x \ + cupy-cuda13x \ simple-parsing \ "numpy<2.0.0" \ # needed at runtime – no rosdep entry @@ -216,4 +216,4 @@ USER ${USERNAME} HEALTHCHECK --interval=30s --timeout=10s --start-period=5s --retries=3 \ CMD ros2 topic list > /dev/null 2>&1 || exit 1 -CMD ["bash"] \ No newline at end of file +CMD ["bash"] diff --git a/docs/source/getting_started/installation.rst b/docs/source/getting_started/installation.rst index 037ca727..578fa9ee 100644 --- a/docs/source/getting_started/installation.rst +++ b/docs/source/getting_started/installation.rst @@ -45,7 +45,7 @@ Install ROS dependencies with ``rosdep``. cd ~/ros2_ws rosdep install --from-paths src --ignore-src --rosdistro jazzy -r -y \ - --skip-keys "cupy-cuda12x numpy_lessthan_2 simple-parsing" + --skip-keys "cupy-cuda13x numpy_lessthan_2 simple-parsing" The package manifest deliberately depends on a CUDA-specific CuPy wheel and a ``numpy<2`` constraint. If your local ``rosdep`` database does not provide @@ -54,7 +54,7 @@ those keys, install them directly with ``pip``: .. code-block:: bash python3 -m pip install --upgrade pip - python3 -m pip install "numpy<2.0.0" simple-parsing cupy-cuda12x + python3 -m pip install "numpy<2.0.0" simple-parsing cupy-cuda13x If you want to run the restored semantic demos, install a matching ``torchvision`` build for your local PyTorch/CUDA stack: diff --git a/requirements.txt b/requirements.txt index d43a16cc..07c2177c 100644 --- a/requirements.txt +++ b/requirements.txt @@ -3,5 +3,5 @@ # # For CUDA torch wheels, follow the official PyTorch instructions (varies by CUDA/driver). simple-parsing -cupy-cuda12x +cupy-cuda13x torch From de0c9842f756f5cc5eaeb115b2146a4829992c4c Mon Sep 17 00:00:00 2001 From: mich-pest Date: Thu, 19 Mar 2026 17:44:30 +0100 Subject: [PATCH 2/3] fixup! Cuda update to v13 --- docker/Dockerfile.x64 | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docker/Dockerfile.x64 b/docker/Dockerfile.x64 index 7d6e5a25..776bb88c 100644 --- a/docker/Dockerfile.x64 +++ b/docker/Dockerfile.x64 @@ -3,7 +3,7 @@ # ───────────────────────────────────────────────────────────────────────────── # Stage 1 – base: CUDA + ROS2 + locale/timezone # ───────────────────────────────────────────────────────────────────────────── -FROM nvidia/cuda:13.2.0-cudnn-runtime-ubuntu22.04 AS base +FROM nvidia/cuda:13.1.1-cudnn-runtime-ubuntu22.04 AS base LABEL description="ROS2 Humble + CUDA – elevation_mapping_cupy baked in" LABEL version="2.0" From ae9da3e681699d9260946048083a7ddd9bce51d5 Mon Sep 17 00:00:00 2001 From: mich-pest Date: Fri, 20 Mar 2026 11:16:08 +0100 Subject: [PATCH 3/3] Installing cuda 12.6 --- docker/Dockerfile.x64 | 6 +++--- docs/source/getting_started/installation.rst | 4 ++-- requirements.txt | 2 +- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/docker/Dockerfile.x64 b/docker/Dockerfile.x64 index 776bb88c..2fd735c9 100644 --- a/docker/Dockerfile.x64 +++ b/docker/Dockerfile.x64 @@ -3,7 +3,7 @@ # ───────────────────────────────────────────────────────────────────────────── # Stage 1 – base: CUDA + ROS2 + locale/timezone # ───────────────────────────────────────────────────────────────────────────── -FROM nvidia/cuda:13.1.1-cudnn-runtime-ubuntu22.04 AS base +FROM nvidia/cuda:12.6.3-cudnn-runtime-ubuntu22.04 AS base LABEL description="ROS2 Humble + CUDA – elevation_mapping_cupy baked in" LABEL version="2.0" @@ -74,7 +74,7 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ libcgal-dev \ && apt-get clean && rm -rf /var/lib/apt/lists/* -# ── PyTorch (latest official CUDA wheel line; no CUDA 13 wheel yet) ───────── +# ── PyTorch (CUDA 12.6 wheel line) ─────────────────────────────────────────── RUN python3 -m pip install -U --extra-index-url https://download.pytorch.org/whl/cu126 \ torch torchvision torchaudio @@ -91,7 +91,7 @@ RUN if [ "$INSTALL_EMCUPY_ROSDEPS" = "true" ]; then \ python3 -m pip install \ scikit-learn \ opencv-python \ - cupy-cuda13x \ + cupy-cuda12x \ simple-parsing \ "numpy<2.0.0" \ # needed at runtime – no rosdep entry diff --git a/docs/source/getting_started/installation.rst b/docs/source/getting_started/installation.rst index 578fa9ee..037ca727 100644 --- a/docs/source/getting_started/installation.rst +++ b/docs/source/getting_started/installation.rst @@ -45,7 +45,7 @@ Install ROS dependencies with ``rosdep``. cd ~/ros2_ws rosdep install --from-paths src --ignore-src --rosdistro jazzy -r -y \ - --skip-keys "cupy-cuda13x numpy_lessthan_2 simple-parsing" + --skip-keys "cupy-cuda12x numpy_lessthan_2 simple-parsing" The package manifest deliberately depends on a CUDA-specific CuPy wheel and a ``numpy<2`` constraint. If your local ``rosdep`` database does not provide @@ -54,7 +54,7 @@ those keys, install them directly with ``pip``: .. code-block:: bash python3 -m pip install --upgrade pip - python3 -m pip install "numpy<2.0.0" simple-parsing cupy-cuda13x + python3 -m pip install "numpy<2.0.0" simple-parsing cupy-cuda12x If you want to run the restored semantic demos, install a matching ``torchvision`` build for your local PyTorch/CUDA stack: diff --git a/requirements.txt b/requirements.txt index 07c2177c..d43a16cc 100644 --- a/requirements.txt +++ b/requirements.txt @@ -3,5 +3,5 @@ # # For CUDA torch wheels, follow the official PyTorch instructions (varies by CUDA/driver). simple-parsing -cupy-cuda13x +cupy-cuda12x torch