Add realsense sdk and ros wrapper

Signed-off-by: Rosalie <[email protected]>

dockerfiles/install_scripts/realsense_sdk.sh

@@ -0,0 +1,61 @@
+#!/bin/bash -i
+
+# SPDX-FileCopyrightText: Alliander N. V.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+set -e
+source /home/$UNAME/.bashrc
+apt update
+
+echo "Installing dependencies..."
+
+# Make Ubuntu up-to-date including the latest stable kernel
+echo "Updating Ubuntu..."
+apt-get update -y && apt-get upgrade -y && apt-get dist-upgrade -y
+
+# Install the core packages required to build librealsense binaries and the affected kernel modules
+echo "Installing core packages..."
+apt-get install -y libssl-dev libusb-1.0-0-dev libudev-dev pkg-config libgtk-3-dev
+
+# Cmake Note: certain librealsense CMAKE flags (e.g. CUDA) require version 3.8+ which is currently not made available via apt manager for Ubuntu LTS.
+
+# Install build tools
+echo "Installing build tools..."
+apt-get install -y git wget cmake build-essential v4l-utils rsync
+
+# Prepare Linux Backend and the Dev. Environment
+# Unplug any connected RealSense camera and run:
+echo "Please unplug any connected RealSense camera before proceeding."
+echo "Installing backend packages..."
+apt-get install -y libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev at
+
+echo "Dependencies installed. Proceeding with RealSense SDK installation..."
+
+# URL of the zip file
+ZIP_URL="https://github.com/IntelRealSense/librealsense/releases/download/v2.57.3/librealsense2_jammy_x86_debians_2_57_3_beta.zip"
+
+# Temporary directory for download and extraction
+TEMP_DIR="/tmp/realsense_install"
+ZIP_FILE="$TEMP_DIR/librealsense2_jammy_x86_debians_2_57_3_beta.zip"
+
+# Create temp directory
+mkdir -p "$TEMP_DIR"
+
+# Download the zip file
+echo "Downloading RealSense SDK debs..."
+wget -O "$ZIP_FILE" "$ZIP_URL"
+
+# Unzip the file
+echo "Extracting debs..."
+unzip "$ZIP_FILE" -d "$TEMP_DIR"
+
+# Find and install all .deb files
+echo "Installing debs..."
+dpkg -i "$TEMP_DIR"/*.deb
+
+# Clean up
+echo "Cleaning up..."
+rm -rf "$TEMP_DIR"
+
+echo "Installation completed successfully."

dockerfiles/install_scripts/realsense_wrapper.sh

@@ -8,14 +8,13 @@ set -e
 source /home/$UNAME/.bashrc
 apt update
 
-cd /home/$UNAME
-mkdir realsense_ws
-cd /home/$UNAME/realsense_ws
-git clone -b 4.57.3 https://github.com/IntelRealSense/realsense-ros.git
+cd /home/$UNAME && \
+    mkdir realsense_ws && \
+    cd /home/$UNAME/realsense_ws && \
+    git clone -b 4.57.2 https://github.com/IntelRealSense/realsense-ros.git src/realsense_ros
 
-sudo apt update
-rosdep update
-rosdep install --from-paths src --rosdistro $ROS_DISTRO -y -r
-colcon build --symlink-install --cmake-args=-DCMAKE_BUILD_TYPE=Release
+apt update && apt-get install python3-rosdep -y
+rosdep update && rosdep install -i --from-path src --rosdistro $ROS_DISTRO --skip-keys=librealsense2 -y
+colcon build
 
 echo "source /home/$UNAME/realsense_ws/install/setup.bash" >>/home/$UNAME/.bashrc

dockerfiles/librealsense.Dockerfile

@@ -0,0 +1,158 @@
+# syntax = devthefuture/dockerfile-x
+# SPDX-FileCopyrightText: Alliander N. V.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+ARG ROS_DISTRIBUTION=jazzy
+
+#################################
+#   Librealsense Builder Stage  #
+#################################
+FROM ros:${ROS_DISTRIBUTION}-ros-base AS librealsense-builder
+
+ARG LIBRS_VERSION=2.57.3
+# Make sure that we have a version number of librealsense as argument
+RUN test -n "$LIBRS_VERSION"
+
+# To avoid waiting for input during package installation
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Temporarily added to avoid keyring error -------------------------
+RUN rm /etc/apt/sources.list.d/ros2-latest.list \
+  && rm /usr/share/keyrings/ros2-latest-archive-keyring.gpg
+
+RUN apt-get update \
+  && apt-get install -y ca-certificates curl
+
+RUN export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}') ;\
+    curl -L -s -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb" \
+    && apt-get update \
+    && apt-get install /tmp/ros2-apt-source.deb \
+    && rm -f /tmp/ros2-apt-source.deb
+# END Temporarily added to avoid keyring error ---------------------
+
+# Builder dependencies installation
+RUN apt-get update \
+    && apt-get install -qq -y --no-install-recommends \
+    build-essential \
+    cmake \
+    git \
+    curl \
+    ca-certificates \
+    libssl-dev \
+    libusb-1.0-0-dev \
+    libudev-dev \
+    pkg-config \
+    && rm -rf /var/lib/apt/lists/*
+
+# Download sources
+WORKDIR /usr/src
+RUN curl https://codeload.github.com/IntelRealSense/librealsense/tar.gz/refs/tags/v$LIBRS_VERSION -o librealsense.tar.gz 
+RUN tar -zxf librealsense.tar.gz \
+    && rm librealsense.tar.gz
+RUN ln -s /usr/src/librealsense-$LIBRS_VERSION /usr/src/librealsense
+
+# Cmds available: rs-convert, rs-embed, rs-enumerate-devices, rs-fw-logger, rs-fw-update, rs-record, rs-terminal
+RUN cd /usr/src/librealsense \
+    && mkdir build && cd build \
+    && cmake ../ \
+    -DCMAKE_INSTALL_PREFIX=/opt/librealsense \
+    -DBUILD_EXAMPLES=OFF \
+    -DBUILD_GRAPHICAL_EXAMPLES=OFF \
+    -DBUILD_CV_EXAMPLES=OFF \
+    -DBUILD_WITH_TM2=OFF \
+    -DBUILD_GLSL_EXTENSIONS=OFF \
+    -DIMPORT_DEPTH_CAM_FW=OFF \
+    -DBUILD_TOOLS=ON \
+    -DCMAKE_BUILD_TYPE=Release \
+    && make -j$(($(nproc)-1)) all \
+    && make install 
+
+FROM ros:${ROS_DISTRIBUTION}-ros-base
+
+# Copy binaries from builder stage
+COPY --from=librealsense-builder /opt/librealsense /usr/local/
+COPY --from=librealsense-builder /usr/src/librealsense/config/99-realsense-libusb.rules /etc/udev/rules.d/
+COPY --from=librealsense-builder /usr/src/librealsense/config/99-realsense-d4xx-mipi-dfu.rules /etc/udev/rules.d/
+
+ARG USERNAME=cropteq
+ARG USER_UID=1000
+ARG USER_GID=1000
+ARG ROS_DISTRIBUTION=jazzy
+
+ENV SHELL=/bin/bash
+ENV RUNNING_IN_DOCKER=true
+
+# Set timezone
+ENV TZ=Europe/Amsterdam
+RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
+
+# Make sure fzf scripts for Bash/ZSH are part of the container
+RUN echo "\
+# ... except FZF files ...\
+path-include=/usr/share/doc/fzf/*" >> /etc/dpkg/dpkg.cfg.d/excludes
+
+
+# Temporarily added to avoid keyring error -------------------------
+RUN rm /etc/apt/sources.list.d/ros2-latest.list \
+  && rm /usr/share/keyrings/ros2-latest-archive-keyring.gpg
+
+RUN apt-get update \
+  && apt-get install -y ca-certificates curl
+
+RUN export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}') ;\
+    curl -L -s -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb" \
+    && apt-get update \
+    && apt-get install /tmp/ros2-apt-source.deb \
+    && rm -f /tmp/ros2-apt-source.deb
+# END Temporarily added to avoid keyring error ---------------------
+
+
+# Update and upgrade
+# Install base packages
+RUN apt-get update && apt-get upgrade -y \
+    &&  apt-get install -y \
+        locales \
+        nodejs \
+        gcovr \
+        python3-pip \
+        python3-pytest-cov \
+        autoconf \
+        libtool \
+        libboost-all-dev \
+    && echo "Done"
+
+# Setup locale
+RUN locale-gen en_US en_US.UTF-8 C.UTF-8
+ENV LANG=en_US.UTF-8
+ENV LANGUAGE=en_US:en
+ENV LC_TIME=C.UTF-8
+
+# Delete user if it exists in container (e.g Ubuntu Noble: ubuntu)
+RUN if id -u $USER_UID ; then userdel `id -un $USER_UID` ; fi
+
+# Create the user
+RUN groupadd --gid $USER_GID $USERNAME \
+    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME -s /bin/bash
+
+# [Optional] Add sudo support. Omit if you don't need to install software after connecting.
+RUN apt-get install -y sudo \
+    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+    && chmod 0440 /etc/sudoers.d/$USERNAME
+
+# Added packages rosdep would install, so rosdep update and rosdep install can be skipped.
+RUN apt-get install -y \
+    ros-${ROS_DISTRIBUTION}-ament-cmake-clang-format \
+    ros-${ROS_DISTRIBUTION}-ament-cmake-clang-tidy \
+    ros-${ROS_DISTRIBUTION}-rmw-cyclonedds-cpp \
+    ros-${ROS_DISTRIBUTION}-cv-bridge \
+    libopencv-dev
+
+# Add packages required for librealsense
+RUN apt-get install -y --no-install-recommends \	
+    libusb-1.0-0 \
+    udev
+
+CMD ["/bin/bash"]
+
+# docker build -t cropteq/ros2_[ROS_DISTRIBUTION]_base:latest

dockerfiles/rcdt_robotics.Dockerfile

@@ -11,6 +11,12 @@ RUN ./ros2_jazzy.sh
 COPY ./install_scripts/core_packages.sh .
 RUN ./core_packages.sh
 
+COPY ./install_scripts/realsense_sdk.sh .
+RUN ./realsense_sdk.sh
+
+COPY ./install_scripts/realsense_wrapper.sh .
+RUN ./realsense_wrapper.sh
+
 COPY ./install_scripts/zed_sdk.sh .
 RUN ./zed_sdk.sh