added docker file for jetson nano

.github/workflows/boxmot_humble_j_nano.yml

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+name: ROS Humble BOXMOT Jetson Nano
+
+on:
+  workflow_dispatch:
+
+  push:
+    branches: 
+      - main
+    paths-ignore:
+      - README.md
+
+  pull_request:
+    branches: 
+      - main
+    paths-ignore:
+      - README.md
+
+env:
+  REGISTRY: ghcr.io
+  OWNER: kalanaratnayake
+  IMAGE_NAME: boxmot-ros
+
+# https://docs.github.com/en/actions/using-jobs/using-concurrency
+concurrency:
+  # only cancel in-progress jobs or runs for the current workflow - matches against branch & tags
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+
+  build-and-push-image:
+    runs-on: ubuntu-latest
+
+    permissions:
+      contents: write
+      packages: write
+
+    steps:
+      - name: Remove unnecessary files
+        run: |
+          sudo rm -rf /usr/share/dotnet
+          sudo rm -rf "$AGENT_TOOLSDIRECTORY"
+          
+      - name: Check out the repository
+        uses: actions/checkout@v4
+
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Log in to the Container registry
+        run: |
+          docker login --username ${{ env.OWNER }} --password ${{ secrets.GH_PAT }} ghcr.io 
+
+      - name: Build and Push
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          file: docker/Dockerfile.jetson-nano
+          platforms: linux/arm64
+          push: true
+          tags: |
+            ${{ env.REGISTRY }}/${{ env.OWNER }}/${{ env.IMAGE_NAME }}:latest-j-nano
+            ${{ env.REGISTRY }}/${{ env.OWNER }}/${{ env.IMAGE_NAME }}:humble-j-nano

docker/Dockerfile.jetson-nano

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+#---------------------------------------------------------------------------------------------------------------------------
+#----
+#----   Start base image
+#----
+#---------------------------------------------------------------------------------------------------------------------------
+
+FROM ghcr.io/kalanaratnayake/foxy-ros-pytorch:1-13-humble-core-r32.7.1 as base
+
+## Parameters
+ENV ROS_DISTRO=humble
+ENV WORKSPACE_ROOT=/boxmot
+
+#############################################################################################################################
+#####
+#####   Clone and build Yolo packages
+#####
+#############################################################################################################################
+
+WORKDIR ${WORKSPACE_ROOT}/src
+
+RUN git clone https://github.com/KalanaRatnayake/boxmot_ros.git
+RUN git clone https://github.com/KalanaRatnayake/yolo_ros.git
+RUN git clone https://github.com/KalanaRatnayake/detection_msgs.git
+
+RUN pip3 install --no-cache-dir -r ${WORKSPACE_ROOT}/src/boxmot_ros/requirements.txt
+RUN pip3 install --no-cache-dir -r ${WORKSPACE_ROOT}/src/yolo_ros/requirements.txt
+
+WORKDIR ${WORKSPACE_ROOT}
+
+RUN . /opt/ros/${ROS_DISTRO}/install/setup.sh && colcon build \
+                                                    --merge-install \
+                                                    --cmake-args -DCMAKE_BUILD_TYPE=Release 
+
+WORKDIR /
+
+#############################################################################################################################
+#####
+#####   Remove workspace source and build files that are not relevent to running the system
+#####
+#############################################################################################################################
+
+RUN rm -rf ${WORKSPACE_ROOT}/src
+RUN rm -rf ${WORKSPACE_ROOT}/log
+RUN rm -rf ${WORKSPACE_ROOT}/build
+
+RUN rm -rf /var/lib/apt/lists/*
+RUN rm -rf /tmp/*
+
+RUN apt-get clean
+
+#---------------------------------------------------------------------------------------------------------------------------
+#----
+#----   Start final release image
+#----
+#---------------------------------------------------------------------------------------------------------------------------
+
+
+FROM ghcr.io/kalanaratnayake/foxy-ros-pytorch:1-13-humble-core-r32.7.1 as final
+
+## Parameters
+
+ENV WORKSPACE_ROOT=/boxmot
+
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+ENV LD_PRELOAD=/usr/lib/aarch64-linux-gnu/libgomp.so.1
+
+WORKDIR /
+
+COPY --from=base / /
+
+COPY docker/workspace_entrypoint.sh /workspace_entrypoint.sh
+
+RUN chmod +x /workspace_entrypoint.sh
+
+ENTRYPOINT [ "/workspace_entrypoint.sh" ]
+
+WORKDIR ${WORKSPACE_ROOT}
+
+CMD ros2 launch boxmot_ros docker.launch.py

docker/compose.jnano.yaml

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+services:
+  yolo:
+    image: ghcr.io/kalanaratnayake/boxmot-ros:humble-j-nano
+    environment:
+      - TRACKING_MODEL=deepocsort
+      - REID_MODEL=osnet_x0_25_msmt17.pt
+      - INPUT_TOPIC=/yolo_ros/detection_result
+      - PUBLISH_ANNOTATED_IMAGE=True
+      - BOXMOT_ANNOTATED_TOPIC=/boxmot_ros/annotated_image
+      - BOXMOT_DETAILED_TOPIC=/boxmot_ros/tracking_result
+      - BOXMOT_THRESHOLD=0.25
+      - BOXMOT_DEVICE='0'
+      - YOLO_MODEL=yolov10x.pt
+      # - YOLO_MODEL=weights/yolov9t.pt            ---> for custom weights
+      - INPUT_RGB_TOPIC=/camera/color/image_raw
+      - INPUT_DEPTH_TOPIC=/camera/depth/points
+      - SUBSCRIBE_DEPTH=True
+      - PUBLISH_ANNOTATED_IMAGE=True
+      - YOLO_ANNOTATED_TOPIC=/yolo_ros/annotated_image
+      - YOLO_DETAILED_TOPIC=/yolo_ros/detection_result
+      - YOLO_THRESHOLD=0.25
+      - YOLO_DEVICE='0'
+    restart: unless-stopped
+    privileged: true
+    network_mode: host
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: 1
+              capabilities: [gpu]   
+    volumes:
+      - type: volume
+        source: boxmot
+        target: /boxmot
+      # - type: bind                              ---> for custom weights
+      #   source: ./weights
+      #   target: /boxmot/weights
+
+volumes:
+  yolo: