Dockerfile.jetson

# Reference: https://github.com/stereolabs/zed-ros2-wrapper/tree/master/docker

ARG L4T_MAJOR=35
ARG L4T_MINOR=3
ARG ZED_SDK_MAJOR=4
ARG ZED_SDK_MINOR=0
ARG ROS_DISTRO=foxy

### BUILD IMAGE ###
FROM stereolabs/zed:${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}-devel-l4t-r${L4T_MAJOR}.${L4T_MINOR} AS build

ARG L4T_MAJOR
ARG L4T_MINOR
ARG ZED_SDK_MAJOR
ARG ZED_SDK_MINOR
ARG ROS_DISTRO

SHELL ["/bin/bash", "-c"]

ENV NVIDIA_DRIVER_CAPABILITIES \
 ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}compute,video,utility

# ROS install
ENV ROS_DISTRO $ROS_DISTRO
RUN echo "deb http://packages.ros.org/ros2/ubuntu focal main" > /etc/apt/sources.list.d/ros2-latest.list && \
    apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 && \
    apt-get update && \
    apt-get install -y --no-install-recommends \
    ros-$ROS_DISTRO-ros-core \
    && rm -rf /var/lib/apt/lists/*

# ZED setup
RUN apt-get update || true && \
    apt-get install --no-install-recommends -y \
        ros-dev-tools \
        ros-${ROS_DISTRO}-ros-base \
        ros-${ROS_DISTRO}-ament-cmake-clang-format \
        ros-${ROS_DISTRO}-image-transport \
        ros-${ROS_DISTRO}-image-transport-plugins \
        ros-${ROS_DISTRO}-diagnostic-updater \
        ros-${ROS_DISTRO}-xacro \
        build-essential \
        python3-colcon-mixin \
        python3-flake8-docstrings \
        python3-pip \
        python3-pytest-cov && \
    pip3 install \
        argcomplete \
        numpy \
        empy \
        lark && \
    rm -rf /var/lib/apt/lists/*

# Check dependencies
WORKDIR /ros2_ws
RUN apt-get update && \
    git clone --recursive https://github.com/stereolabs/zed-ros2-wrapper.git src/zed-ros2-wrapper && \
    source /opt/ros/$ROS_DISTRO/setup.bash && \
    rosdep init && \
    rosdep update --rosdistro $ROS_DISTRO && \
    rosdep install --from-paths src -y -i && \
    rm -rf /var/lib/apt/lists/*

# Create health check package
RUN cd src/ && \
    source /opt/ros/$ROS_DISTRO/setup.bash && \
    ros2 pkg create healthcheck_pkg --build-type ament_cmake --dependencies rclcpp sensor_msgs && \
    sed -i '/find_package(sensor_msgs REQUIRED)/a \
            add_executable(healthcheck_node src/healthcheck.cpp)\n \
            ament_target_dependencies(healthcheck_node rclcpp sensor_msgs)\n \
            install(TARGETS healthcheck_node DESTINATION lib/${PROJECT_NAME})' \
            /ros2_ws/src/healthcheck_pkg/CMakeLists.txt

COPY ./healthcheck.cpp /ros2_ws/src/healthcheck_pkg/src/

# Build
WORKDIR /ros2_ws
RUN source /opt/ros/$ROS_DISTRO/setup.bash && \
    colcon build --base-paths src \
        --cmake-args ' -DCMAKE_BUILD_TYPE=Release' \
        ' -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs' \
        ' -DCMAKE_CXX_FLAGS="-Wl,--allow-shlib-undefined"' \
        ' --no-warn-unused-cli' && \
    rm -rf build log src

### RUNTIME IMAGE ### # Reduction from 6.1GB to 3.9GB
FROM stereolabs/zed:${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}-runtime-l4t-r${L4T_MAJOR}.${L4T_MINOR} AS runtime

ARG L4T_MAJOR
ARG L4T_MINOR
ARG ZED_SDK_MAJOR
ARG ZED_SDK_MINOR
ARG ROS_DISTRO

SHELL ["/bin/bash", "-c"]

ENV NVIDIA_DRIVER_CAPABILITIES \
 ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}compute,video,utility

# ROS install
ENV ROS_DISTRO $ROS_DISTRO
RUN echo "deb http://packages.ros.org/ros2/ubuntu focal main" > /etc/apt/sources.list.d/ros2-latest.list && \
    apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 && \
    apt-get update && \
    apt-get install -y --no-install-recommends \
    ros-$ROS_DISTRO-ros-core \
    && rm -rf /var/lib/apt/lists/*

# ZED setup
RUN apt-get update || true && \
    apt-get install --no-install-recommends -y \
        ros-dev-tools \
        ros-${ROS_DISTRO}-ros-base \
        ros-${ROS_DISTRO}-ament-cmake-clang-format \
        ros-${ROS_DISTRO}-image-transport \
        ros-${ROS_DISTRO}-image-transport-plugins \
        ros-${ROS_DISTRO}-diagnostic-updater \
        ros-${ROS_DISTRO}-xacro \
        ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
        build-essential \
        curl \
        python3-colcon-mixin \
        python3-flake8-docstrings \
        python3-pip \
        python3-pytest-cov && \
    pip3 install \
        argcomplete \
        numpy \
        empy \
        lark && \
    rm -rf /var/lib/apt/lists/*

# Check dependencies
COPY --from=build /ros2_ws /ros2_ws
WORKDIR /ros2_ws
RUN apt-get update && \
    source /opt/ros/$ROS_DISTRO/setup.bash && \
    rosdep init && \
    rosdep update --rosdistro $ROS_DISTRO && \
    rosdep install --from-paths src -y -i && \
    rm -rf /var/lib/apt/lists/*

# Source workspace when docker exec -it <container> bash
RUN test -f "/ros2_ws/install/setup.bash" && echo "source /ros2_ws/install/setup.bash" >> /etc/bash.bashrc

# Git action version
RUN echo $(cat /ros2_ws/src/zed-ros2-wrapper/zed_wrapper/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') >> /version.txt

COPY ./ros_entrypoint.sh /

COPY ./healthcheck.sh /
HEALTHCHECK --interval=2s --timeout=1s --start-period=20s --retries=1 \
    CMD ["/healthcheck.sh"]

# Download Husarnet
ARG TARGETARCH
ARG HUSARNET_DDS_RELEASE="v1.3.5"
ENV HUSARNET_DDS_DEBUG=FALSE
RUN curl -L https://github.com/husarnet/husarnet-dds/releases/download/${HUSARNET_DDS_RELEASE}/husarnet-dds-linux-${TARGETARCH} -o /usr/bin/husarnet-dds
RUN chmod +x /usr/bin/husarnet-dds

# Setup environment variables
COPY ./ros_entrypoint.sh /ros_entrypoint.sh
ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["bash"]