build-ros-jetson-image.sh

#!/bin/bash
set -e

# This is a shell script that configures the build arguements to the Dockefile
# and builds a Docker image for Jetson  with a default tag. 


ZED_SDK_MAJOR=3 		 # ZED SDK major version 
ZED_SDK_MINOR=7			 # ZED SDK minor version
L4T_MINOR_VERSION=7 	 #L4T Minor version
ROS_DISTRO_ARG="melodic" # ROS DISTRO 



# Default Tag based on the selected versions

TAG="${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}-ros-tools-devel-l4t-r32.${L4T_MINOR_VERSION}" 
                   

echo "Building '${TAG}'" 

docker build --build-arg 4T_MINOR_VERSION=${L4T_MINOR_VERSION} \
		     --build-arg ZED_SDK_MAJOR=${ZED_SDK_MAJOR} \
			 --build-arg ZED_SDK_MINOR=${ZED_SDK_MINOR} \
			 --build-arg ROS_DISTRO_ARG=${ROS_DISTRO_ARG} \
			 -t "${TAG}" -f Dockerilfe.rosjetson .

Dockerfile.rosjetson

ARG ZED_SDK_MAJOR
ARG ZED_SDK_MINOR
ARG L4T_MINOR_VERSION
ARG ROS_DISTRO_ARG

# Specify the parent image from which we build
FROM stereolabs/zed:${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}-devel-l4t-r32.${L4T_MINOR_VERSION} 


# Setup ROS
RUN apt-get update -y && \
    DEBIAN_FRONTEND=noninteractive apt-get install -y tzdata gnupg2 && \
    sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' && \
    apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 && \
    apt-get update &&\
    DEBIAN_FRONTEND=noninteractive apt-get install -y ros-$ROS_DISTRO-$ROS_PKG build-essential cmake usbutils git -y --allow-unauthenticated && \
    apt-get install -y python-rosdep  python-rosinstall python-rosinstall-generator python-wstool &&\
    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"]

ros_entrypoint.sh

#!/bin/bash
set -e

# setup ros environment
source "/opt/ros/$ROS_DISTRO/setup.bash"
source "$ROS_WS/devel/setup.bash"
exec "$@"