ros2 docker not working

[karolinajudzentyte]

The docker for ros2 is not working. Changed up docker file to # syntax=docker/dockerfile:1.4
FROM nvidia/cuda:12.6.3-cudnn-devel-ubuntu24.04

ARG ROS_DISTRO=jazzy
ARG USERNAME=ubuntu
ARG USER_UID=1000
ARG USER_GID=$USER_UID

ENV DEBIAN_FRONTEND=noninteractive
LANG=en_US.UTF-8
LC_ALL=en_US.UTF-8
TZ=UTC
ROS_DISTRO=${ROS_DISTRO}

RUN --mount=type=cache,target=/var/cache/apt,sharing=locked
apt update && apt install -y --no-install-recommends
locales tzdata
curl gnupg2 lsb-release
sudo git
build-essential cmake
python3-pip python3-venv
&& locale-gen en_US.UTF-8
&& update-locale LC_ALL=${LC_ALL} LANG=${LANG}
&& rm -rf /var/lib/apt/lists/*

RUN --mount=type=cache,target=/var/cache/apt,sharing=locked
curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key
-o /usr/share/keyrings/ros-archive-keyring.gpg
&& echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main"
> /etc/apt/sources.list.d/ros2.list
&& apt update && apt install -y --no-install-recommends
ros-${ROS_DISTRO}-ros-base
ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
ros-${ROS_DISTRO}-rviz2
ros-${ROS_DISTRO}-tf-transformations
ros-${ROS_DISTRO}-grid-map-msgs
ros-${ROS_DISTRO}-grid-map-rviz-plugin
ros-${ROS_DISTRO}-pcl-ros
ros-${ROS_DISTRO}-rosbag2-py
ros-${ROS_DISTRO}-rosbag2-storage-mcap
ros-${ROS_DISTRO}-ament-cmake
ros-${ROS_DISTRO}-ament-cmake-python
ros-${ROS_DISTRO}-ament-cmake-ros
ros-${ROS_DISTRO}-launch-testing
ros-${ROS_DISTRO}-launch-testing-ament-cmake
python3-colcon-common-extensions
python3-rosdep
python3-vcstool
python3-ruamel.yaml
&& rm -rf /var/lib/apt/lists/*

ENV VIRTUAL_ENV=/opt/venv
RUN python3 -m venv ${VIRTUAL_ENV}
ENV PATH="${VIRTUAL_ENV}/bin:${PATH}"

RUN python -m pip install --no-cache-dir -U pip setuptools wheel

RUN python -m pip install --no-cache-dir -U --extra-index-url https://download.pytorch.org/whl/cu121
torch torchvision torchaudio

RUN /opt/venv/bin/python -m pip install --no-cache-dir -U
lark-parser
setuptools

RUN /opt/venv/bin/python -m pip install --no-cache-dir -U
PyYAML pytest empy catkin_pkg

RUN /opt/venv/bin/python -m pip install --no-cache-dir -U
PyYAML pytest ruamel.yaml

RUN python -m pip install --no-cache-dir -U
"numpy>=2.0,<2.6"
"scipy>=1.13,<2.0"
"shapely>=2.0"
"transforms3d>=0.4.2"
"opencv-python-headless"
cupy-cuda12x
simple-parsing

RUN python - <<'PY'
import numpy, scipy, shapely, transforms3d
import cv2, cupy
print("numpy", numpy.version)
print("scipy", scipy.version)
print("shapely", shapely.version)
print("transforms3d", transforms3d.version)
print("cv2", cv2.version)
print("cupy", cupy.version)
PY

RUN if ! getent group ${USER_GID} >/dev/null; then groupadd --gid ${USER_GID} ${USERNAME}; fi
&& if ! id -u ${USERNAME} >/dev/null 2>&1; then useradd -m -s /bin/bash --uid ${USER_UID} --gid ${USER_GID} ${USERNAME}; fi
&& echo "${USERNAME} ALL=(root) NOPASSWD:ALL" > /etc/sudoers.d/${USERNAME}
&& chmod 0440 /etc/sudoers.d/${USERNAME}

RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/${USERNAME}/.bashrc
RUN echo "source /opt/venv/bin/activate" >> /home/${USERNAME}/.bashrc

RUN rosdep init || true

WORKDIR /home/${USERNAME}/workspace
USER ${USERNAME}

CMD ["bash"]

and removed the testing

docker run --rm --gpus all --net=host -e CUPY_ACCELERATORS="" -e CUPY_CACHE_DIR=/tmp/cupy_cache -v ~/elev_map_cupy:/ws -w /ws elevation_mapping_cupy:jazzy bash -lc '
set -e
source /opt/ros/jazzy/setup.bash
source /ws/install/setup.bash
ros2 launch elevation_mapping_cupy synthetic_depth_demo.launch.py launch_rviz:=false
'

and now getting error: incomplete type "float16" is not allowed