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+# We choose Ubuntu 20.04 since ROS Noetic targets Ubuntu 20.04.
+# Ref: http://wiki.ros.org/noetic
+# If you want to change the CUDA version, see the following link.
+# Ref: https://hub.docker.com/r/nvidia/cudagl
+ARG UBUNTU_RELEASE_YEAR=20
+ARG CUDA_MAJOR=11
+ARG CUDA_MINOR=4
+ARG CUDA_PATCH=2
+FROM nvidia/cudagl:${CUDA_MAJOR}.${CUDA_MINOR}.${CUDA_PATCH}-devel-ubuntu${UBUNTU_RELEASE_YEAR}.04
+
+# ====================
+# Install ZED SDK
+# ====================
+# We choose ZED SDK 3.8, since 4.0 is still in Early Access at the time of writing.
+# Please note that we encountered non-deterministic bugs in a particular custom docker image using ZED SDK 4.0.
+# For example, we may not be able to open the camera, or the camera may capture zoomed-in images.
+# We did not investigate the root cause of the problem, but we suspect that it may be related to the SDK version.
+
+# Run the commands based on `stereolabs/zed:3.8-gl-devel-cuda11.4-ubuntu20.04`
+# Ref: https://hub.docker.com/r/stereolabs/zed/tags?page=1&name=3.8-gl-devel-cuda11.4-ubuntu20.04
+# Ref: https://github.com/stereolabs/zed-docker/blob/fde3fe833859eb78831b0cc4c0a119b745f6ff62/3.X/ubuntu/gl-devel/Dockerfile
+# The commands below are slightly modified to fit our need
+
+# We do not choose to use the docker image provided by `stereolabs/zed`, since we want to use the latest CUDA patch.
+
+ARG UBUNTU_RELEASE_YEAR
+ARG CUDA_MAJOR
+ARG CUDA_MINOR
+ARG CUDA_PATCH
+ARG ZED_SDK_MAJOR=3
+ARG ZED_SDK_MINOR=8
+
+ENV NVIDIA_DRIVER_CAPABILITIES \
+    ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}compute,video,utility,graphics
+
+RUN echo "Europe/Paris" > /etc/localtime ; echo "CUDA Version ${CUDA_MAJOR}.${CUDA_MINOR}.${CUDA_PATCH}" > /usr/local/cuda/version.txt
+
+# Setup the ZED SDK
+RUN apt-get update -y || true
+RUN apt-get install --no-install-recommends lsb-release wget less udev sudo build-essential cmake zstd python3 python3-pip libpng-dev libgomp1 -y && \
+    python3 -m pip install --upgrade pip; python3 -m pip install numpy opencv-python && \
+    wget -q -O ZED_SDK_Linux_Ubuntu${UBUNTU_RELEASE_YEAR}.run https://download.stereolabs.com/zedsdk/${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}/cu${CUDA_MAJOR}${CUDA_MINOR%.*}/ubuntu${UBUNTU_RELEASE_YEAR} && \
+    chmod +x ZED_SDK_Linux_Ubuntu${UBUNTU_RELEASE_YEAR}.run ; ./ZED_SDK_Linux_Ubuntu${UBUNTU_RELEASE_YEAR}.run -- silent skip_cuda && \
+    ln -sf /lib/x86_64-linux-gnu/libusb-1.0.so.0 /usr/lib/x86_64-linux-gnu/libusb-1.0.so && \
+    rm ZED_SDK_Linux_Ubuntu${UBUNTU_RELEASE_YEAR}.run && \
+    rm -rf /var/lib/apt/lists/*
+
+# Make some tools happy
+RUN mkdir -p /root/Documents/ZED/
+
+WORKDIR /usr/local/zed/
+
+# ====================
+# Install ROS Noetic
+# ====================
+# We do not choose to use the docker image provided by `stereolabs/zed`,
+# since it is not maintained after ZED SDK 3.4
+# Ref: https://www.stereolabs.com/docs/docker/using-ros/
+# Ref: https://hub.docker.com/r/stereolabs/zed/tags?page=1&name=ros-devel-cuda11
+# Run the commands based the following links
+# Ref: https://github.com/j3soon/docker-ros-noetic-desktop-full
+# Ref: https://github.com/osrf/docker_images/tree/1c1fc8d922d3ca45e1712072ef9e39052f29cc63/ros/noetic/ubuntu/focal
+
+# ros-core
+# Ref: https://github.com/osrf/docker_images/blob/master/ros/noetic/ubuntu/focal/ros-core/Dockerfile
+# setup timezone
+RUN echo 'Etc/UTC' > /etc/timezone && \
+    # ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
+    apt-get update && \
+    apt-get install -q -y --no-install-recommends tzdata && \
+    rm -rf /var/lib/apt/lists/*
+# install packages
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
+    dirmngr \
+    gnupg2 \
+    && rm -rf /var/lib/apt/lists/*
+# setup sources.list
+RUN echo "deb http://packages.ros.org/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros1-latest.list
+# setup keys
+RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+# setup environment
+ENV LANG C.UTF-8
+ENV LC_ALL C.UTF-8
+ENV ROS_DISTRO noetic
+# install ros packages
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-noetic-ros-core=1.5.0-1* \
+    && rm -rf /var/lib/apt/lists/*
+
+# ros-base
+# Ref: https://github.com/osrf/docker_images/blob/master/ros/noetic/ubuntu/focal/ros-base/Dockerfile
+# install bootstrap tools
+RUN apt-get update && apt-get install --no-install-recommends -y \
+    build-essential \
+    python3-rosdep \
+    python3-rosinstall \
+    python3-vcstools \
+    && rm -rf /var/lib/apt/lists/*
+# bootstrap rosdep
+RUN rosdep init && \
+  rosdep update --rosdistro $ROS_DISTRO
+# install ros packages
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-noetic-ros-base=1.5.0-1* \
+    && rm -rf /var/lib/apt/lists/*
+
+# ros-robot
+# Ref: https://github.com/osrf/docker_images/blob/master/ros/noetic/ubuntu/focal/robot/Dockerfile
+# install ros packages
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-noetic-robot=1.5.0-1* \
+    && rm -rf /var/lib/apt/lists/*
+
+# ros-desktop
+# Ref: https://github.com/osrf/docker_images/blob/master/ros/noetic/ubuntu/focal/desktop/Dockerfile
+# install ros packages
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-noetic-desktop=1.5.0-1* \
+    && rm -rf /var/lib/apt/lists/*
+
+# ros-desktop-full
+# Ref: https://github.com/osrf/docker_images/blob/master/ros/noetic/ubuntu/focal/desktop-full/Dockerfile
+# install ros packages
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-noetic-desktop-full=1.5.0-1* \
+    && rm -rf /var/lib/apt/lists/*
+
+# ros-core
+# Ref: https://github.com/osrf/docker_images/blob/master/ros/noetic/ubuntu/focal/ros-core/Dockerfile
+# setup entrypoint
+COPY ./thirdparty/ros_entrypoint.sh /
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["bash"]
+
+# ====================
+# Custom Commands
+# ====================
+# Ref: https://github.com/stereolabs/zed-ros-wrapper#build-the-repository
+# The commands below are slightly modified to fit our need
+
+# Install common tools
+RUN apt-get update && apt-get install -y git vim tmux \
+    && rm -rf /var/lib/apt/lists/*
+RUN mkdir -p ~/catkin_ws/src \
+    && cd ~/catkin_ws/src \
+    && git clone https://github.com/stereolabs/zed-ros-wrapper.git \
+    && cd zed-ros-wrapper \
+    && git reset --hard c37f65dfec547d6739d94c6109c3eb3fc7fecbeb # branch v3.8.x \
+    && git pull --recurse-submodules # update recursively all the submodules \
+    && cd ../../ \
+    && . /opt/ros/noetic/setup.sh \
+    && rosdep install --from-paths src --ignore-src -r -y \
+    && catkin_make -DCMAKE_BUILD_TYPE=Release \
+    && . ./devel/setup.sh