Dockerfile to create desktop images with ZED SDK and ROS/ROS2 support.

build-ros-desktop-image.sh

#!/bin/bash
set -e

# This is a shell script that configures the build arguements to the Dockefile
# and builds a Docker image with a default tag.    
#              			  
# Available versions to configure the arguements:
# UBUNTU_RELEASE_YEAR = 18 and 20 
# ZED SDK Versions  = 3.0 to 3.7 (ZED SDK version <3 are too old and outdated)
# CUDA Versions = 10.0, 10.2, 11.0, 11.1, 11.4, 11.5
# ROS2_FLAG takes either 1 or 0 
#    1 sets the ROS_DISTRO_ARG to ROS2 Foxy Fitzroy
#    0 sets the ROS_DISTRO_ARG to ROS1 versions based on Ubuntu Release year 

UBUNTU_RELEASE_YEAR=20 	#Specify the Ubunutu release year
ZED_SDK_MAJOR=3 		# ZED SDK major version 
ZED_SDK_MINOR=7 		# ZED SDK minor version
CUDA_MAJOR=11 			# CUDA major version
CUDA_MINOR=4 			# CUDA minor version 
ROS2_FLAG=0			    # Change it to 1 to setup ROS 2

#Check for the version compatibilities

if [ ${UBUNTU_RELEASE_YEAR} == "18" ] ; then
	echo "Ubuntu 18.04"
	ROS_DISTRO_ARG="melodic"
	# Not compatible with CUDA <= 9
	if [ ${CUDA_MAJOR} -le "9" ] ; then
		echo "Ubunutu 18.04 Not compatible with CUDA <= 9"
		exit
	fi
elif [ ${UBUNTU_RELEASE_YEAR} == "20" ] ; then
	if [ ${ROS2_FLAG} == 1 ] ; then 
		ROS_DISTRO_ARG="foxy"
	else 
		ROS_DISTRO_ARG="noetic"
	fi
	# Not compatible with CUDA <= 10
	if [ ${CUDA_MAJOR} -le "10" ] ; then
   		echo "Ubunutu 20.04 is not compatible with CUDA <= 10 "
   		exit
	fi
else
	echo "UBUNTU_RELEASE_YEAR! Allowed values are 18 or 20 "
	exit
fi 

if [ ${CUDA_MAJOR} -ge "11" ] ; then
	if [ ${ZED_SDK_MINOR} -lt "2" ] ; then # CUDA 11.0 was introduced with 3.2
		echo "CUDA 11.0 was introduced with 3.2"
		exit
	fi
	if [ ${CUDA_MINOR} -ge "1" ] ; then
		if [ ${ZED_SDK_MINOR} -lt "3" ] ; then # CUDA 11.1 was introduced with 3.3
			echo "CUDA 11.1 was introduced with 3.3"
		exit
		fi
	fi
	if [ ${CUDA_MINOR} == "2" ] || [ ${CUDA_MINOR} == "3" ]  || [ ${CUDA_MINOR} -ge "6" ] ; then 
		#invalid CUDA versions
   		echo "Invalid CUDA_MINOR! Allowed values : 0,1,4,5"
   		exit
	fi
elif [ ${CUDA_MAJOR} == "10" ] ; then
	if [ ${CUDA_MINOR} != "0" ] || [ ${CUDA_MINOR} != "2" ] ; then 
	   echo "Invalid CUDA_MINOR! Allowed values are 0 or 2"
	   exit
	fi
else
	echo "Invalid CUDA_MAJOR! Allowed values are 10 or 11" 
fi	
	

# Default Tag based on the selected versions
if [ ${ROS2_FLAG} == 1 ] ; then
	echo "ROS2 flag == 1 " 
	TAG="${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}-ros2-gl-devel-cuda${CUDA_MAJOR}.${CUDA_MINOR}-ubuntu${UBUNTU_RELEASE_YEAR}.04"
	DOCKERFILE="Dockerfile.ros2"
else
	TAG="${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}-ros-gl-devel-cuda${CUDA_MAJOR}.${CUDA_MINOR}-ubuntu${UBUNTU_RELEASE_YEAR}.04"
	DOCKERFILE="Dockerfile.ros"
fi
           

echo "Building '${TAG}'" 

docker build --build-arg UBUNTU_RELEASE_YEAR=${UBUNTU_RELEASE_YEAR} \
--build-arg ZED_SDK_MAJOR=${ZED_SDK_MAJOR} \
--build-arg ZED_SDK_MINOR=${ZED_SDK_MINOR} \
--build-arg ROS_DISTRO_ARG=${ROS_DISTRO_ARG} \
--build-arg CUDA_MAJOR=${CUDA_MAJOR} \
--build-arg CUDA_MINOR=${CUDA_MINOR} \
-t "${TAG}" -f "${DOCKERFILE}" .

                    

Dockerfile.ros

 Build arguments
ARG UBUNTU_RELEASE_YEAR
ARG ZED_SDK_MAJOR
ARG ZED_SDK_MINOR
ARG CUDA_MAJOR
ARG CUDA_MINOR

# Specify the parent image from which we build
FROM stereolabs/zed:${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}-gl-devel-cuda${CUDA_MAJOR}.${CUDA_MINOR}-ubuntu${UBUNTU_RELEASE_YEAR}.04

ARG ROS_DISTRO_ARG
ENV LOGNAME root
ENV ROS_DISTRO ${ROS_DISTRO_ARG}
ENV LANG C.UTF-8
ENV LC_ALL C.UTF-8


# Setup ROS
RUN apt-get update -y || true && \
    DEBIAN_FRONTEND=noninteractive apt-get install -y tzdata curl && \
    sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' && \
    curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add - && \
    apt-get update || true &&\
    DEBIAN_FRONTEND=noninteractive apt-get install -y ros-$ROS_DISTRO-desktop-full build-essential cmake usbutils libusb-1.0-0-dev git -y --allow-unauthenticated && \
RUN apt-get update -y || true && \
    DEBIAN_FRONTEND=noninteractive apt-get install -y tzdata curl && \
    sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' && \
    curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add - && \
    apt-get update || true &&\
    DEBIAN_FRONTEND=noninteractive apt-get install -y ros-$ROS_DISTRO-desktop-full build-essential cmake usbutils libusb-1.0-0-dev git -y --allow-unauthenticated 

# Install Packages depending on ROS distro
RUN if [ "$ROS_DISTRO_ARG" = "noetic" ] ; then \
	apt-get install -y python3-rosdep python3-rosinstall  python3-rosinstall-generator python3-wstool ;\
    else \
       apt-get install -y python-rosdep  python-rosinstall python-rosinstall-generator python-wstool ; \
    fi 


RUN rm -rf /var/lib/apt/lists/*

#Setup ROS workspace
RUN mkdir -p /opt/ros_ws/src
WORKDIR /opt/ros_ws
RUN  . /opt/ros/noetic/setup.sh && \
	catkin_make 		

# setup entrypoint
COPY ./ros_entrypoint.sh /
ENTRYPOINT ["/ros_entrypoint.sh"]

CMD ["bash"]

Dockerfile.ros2

ARG UBUNTU_RELEASE_YEAR
ARG ZED_SDK_MAJOR
ARG ZED_SDK_MINOR
ARG CUDA_MAJOR
ARG CUDA_MINOR


FROM stereolabs/zed:${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}-gl-devel-cuda${CUDA_MAJOR}.${CUDA_MINOR}-ubuntu${UBUNTU_RELEASE_YEAR}.04

ARG ROS_DISTRO_ARG
ENV LOGNAME root
ENV ROS_DISTRO ${ROS_DISTRO_ARG}
ENV LANG C.UTF-8
ENV LC_ALL C.UTF-8

# install packages
RUN apt-get update || true && apt-get install -q -y --no-install-recommends \
    bash-completion \
    dirmngr \
    gnupg2 \
    lsb-release \
    python3-pip \
    && rm -rf /var/lib/apt/lists/*

# setup sources.list and keys
RUN echo "deb http://packages.ros.org/ros2/ubuntu focal main" > /etc/apt/sources.list.d/ros2-latest.list && \
    apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

# install bootstrap tools
RUN apt-get update || true && apt-get install --no-install-recommends -y \
    build-essential \
    git \
    python3-colcon-common-extensions \
    python3-colcon-mixin \
    python3-rosdep \
    python3-vcstool \
    && rm -rf /var/lib/apt/lists/*

# install python packages
RUN pip3 install -U \
    argcomplete \
    flake8 \
    flake8-blind-except \
    flake8-builtins \
    flake8-class-newline \
    flake8-comprehensions \
    flake8-deprecated \
    flake8-docstrings \
    flake8-import-order \
    flake8-quotes \
    pytest-repeat \
    pytest-rerunfailures

# bootstrap rosdep
RUN rosdep init \
    && rosdep update

# setup colcon mixin and metadata
RUN colcon mixin add default \
    https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
    colcon mixin update && \
    colcon metadata add default \
    https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
    colcon metadata update

# clone source
ENV ROS2_WS /opt/ros2_ws
RUN mkdir -p $ROS2_WS/src
WORKDIR $ROS2_WS

# build source
RUN colcon \
    build \
    --cmake-args \
      -DSECURITY=ON --no-warn-unused-cli \
    --symlink-install

# setup bashrc
RUN cp /etc/skel/.bashrc ~/

# setup entrypoint
COPY ./ros_entrypoint.sh /

ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["bash"]

ros_entrypoint.sh

#!/bin/bash
set -e

# setup ros environment

if [ ${ROS_DISTRO} == "foxy" ] ; then
	source "$ROS2_WS/install/local_setup.bash"
else
	source "/opt/ros/$ROS_DISTRO/setup.bash" 
	source "$ROS_WS/devel/setup.bash"
fi
exec "$@"

Hi thanks for providing these very useful scripts! Could it be that in the ROS2 Dockerfile the command to actually install Foxy is missing?

Hi thanks for providing these very useful scripts! Could it be that in the ROS2 Dockerfile the command to actually install Foxy is missing?

I'm relatively new to docker but I think you're right. ROS/ROS2 aren't part of the base image at stereolabs/zed:4.0-gl-devel-cuda11.4-ubuntu20.04 and I don't see where it might be installed in Dockerfile.ros2.