# Academic Software License: Copyright © 2026 Goodarz Mehr.

# SimBEV Docker Configuration Script

#

# This script performs all the necessary steps for creating a SimBEV Docker

# image.

#

# The base Docker image is Ubuntu 22.04 with CUDA 13.2 and Vulkan SDK

# 1.3.204.1. If you want to use a different base image, you may have to modify

# "ubuntu2204/x86_64" when fetching keys, based on your Ubuntu release and

# system architecture.

# Build Arguments (Case Sensitive):

#

# USER: username inside each container, set to "sb" by default.

# CARLA_VERSION: installed version of CARLA, set to "0.9.16" by default.

# Installation:

#

# 1. Install Docker on your system (https://docs.docker.com/engine/install/).

# 2. Install the Nvidia Container Toolkit

# (https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#installation-guide).

# It exposes your Nvidia graphics card to Docker containers.

# 3. In the Dockerfile directory, run

#

# docker build --no-cache --rm --build-arg ARG -t simbev:develop .

# Usage:

#

# Launch a container by running

#

# docker run --privileged --gpus all --network=host -e DISPLAY=$DISPLAY

# -v [path/to/CARLA]:/home/carla

# -v [path/to/SimBEV]:/home/simbev

# -v [path/to/dataset]:/dataset

# --shm-size 32g -it simbev:develop /bin/bash

#

# Use "nvidia-smi" to ensure your graphics card is visible inside the

# container.

FROM nvidia/cuda:13.2.1-devel-ubuntu22.04

# Define build arguments and environment variables.

ARG USER=sb

ARG CARLA_VERSION=0.9.16

ENV USER=${USER}

ENV TZ=America/New_York

ENV DEBIAN_FRONTEND=noninteractive

ENV CARLA_VERSION=$CARLA_VERSION

ENV CARLA_ROOT=/home/carla

# Add new user and install prerequisite packages.

WORKDIR /home

RUN useradd -m ${USER}

RUN set -xue && apt-key del 7fa2af80 \

&& apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/3bf863cc.pub \

&& apt-get update \

&& apt-get install -y build-essential cmake debhelper git wget xdg-user-dirs xserver-xorg libvulkan1 libsdl2-2.0-0 \

libsm6 libgl1-mesa-glx libomp5 pip unzip libjpeg8 libtiff5 software-properties-common nano fontconfig g++ gcc gdb \

libglib2.0-0 libgtk2.0-dev libvulkan-dev vulkan-tools python-is-python3 mesa-utils python3-dbg

RUN pip install --no-cache-dir ninja numpy matplotlib opencv-python open3d scikit-image pyquaternion networkx psutil \

tqdm pynput pyvista evdev==1.6.1

RUN pip install --no-cache-dir torch --index-url https://download.pytorch.org/whl/cu132

USER ${USER}