ROS1 Realsense demo

README.md

Example

$ docker-compose up

$ rocker --nvidia --x11 --network=host osrf/ros:melodic-desktop-full rviz

docker-compose.yaml

version: "3"
services:
  realsense_ros:
    build: ./
    network_mode: "host"
    privileged: true
    command: ["roslaunch", "realsense2_camera", "rs_camera.launch"]

Dockerfile

ARG FROM_IMAGE=ros:melodic

# multi-stage for caching
FROM $FROM_IMAGE AS cache

# install bootstrap tools
RUN apt-get update && apt-get install --no-install-recommends -y \
    python3-vcstool \
    && rm -rf /var/lib/apt/lists/*

# copy overlay source
ENV OVERLAY_WS /opt/overlay_ws
RUN mkdir -p $OVERLAY_WS/src
WORKDIR $OVERLAY_WS
COPY ./realsense.repos ./
RUN vcs import src < realsense.repos

# copy manifests for caching
WORKDIR /opt
RUN find ./ -name "package.xml" | \
      xargs cp --parents -t /tmp
    # && find ./ -name "COLCON_IGNORE" | \
    #   xargs cp --parents -t /tmp

# multi-stage for building
FROM $FROM_IMAGE AS build

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

# 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

# setup keys
RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 6F3EFCDE

# setup sources.list
RUN echo "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" > /etc/apt/sources.list.d/realsense-public.list

# install realsense sdk dependencies
RUN apt-get update && apt-get install -y \
        librealsense2-dbg \
        librealsense2-dev \
        librealsense2-dkms \
        librealsense2-utils \
    && rm -rf /var/lib/apt/lists/*

# install CI dependencies
RUN apt-get update && apt-get install -q -y \
      ccache \
      lcov \
    && rm -rf /var/lib/apt/lists/*

# copy overlay manifests
ENV OVERLAY_WS /opt/overlay_ws
COPY --from=cache /tmp/overlay_ws $OVERLAY_WS
WORKDIR $OVERLAY_WS

# install overlay dependencies
RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
    apt-get update && rosdep install -q -y \
      --from-paths \
        src \
      --ignore-src \
    && rm -rf /var/lib/apt/lists/*

# copy overlay source
COPY --from=cache $OVERLAY_WS ./

# build overlay source
ARG OVERLAY_MIXINS="release ccache"
RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
    colcon build \
      --symlink-install \
      --mixin $OVERLAY_MIXINS
      # --event-handlers console_direct+

# source overlay from entrypoint
RUN sed --in-place \
      's|^source .*|source "$OVERLAY_WS/install/setup.bash"|' \
      /ros_entrypoint.sh

realsense.repos

repositories:
  IntelRealSense/realsense-ros:
    type: git
    url: https://github.com/IntelRealSense/realsense-ros.git
    version: development