Dockerized d435i for ROS2;
Dockerfile:
FROM nvcr.io/nvidia/l4t-base:r32.4.2
RUN apt-get update -y
RUN apt install -y wget curl git
#RUN /bin/bash -c 'echo "deb http://packages.ros.org/ros/ubuntu bionic main" > /etc/apt/sources.list.d/ros-latest.list'
#RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
RUN apt-get update -y
RUN locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 && LANG=en_US.UTF-8
RUN apt update && apt install curl gnupg2 lsb-release
RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - && sh -c 'echo "deb http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
RUN apt update -y
RUN apt-get update -y
ENV TZ America/Los_Angeles
RUN DEBIAN_FRONTEND="noninteractive" apt-get install -y tzdata git curl cmake wget mc mlocate
RUN DEBIAN_FRONTEND="noninteractive" apt install -y ros-dashing-ros-base
RUN apt update -y
RUN DEBIAN_FRONTEND="noninteractive" apt install -y ros-dashing-cv-bridge ros-dashing-librealsense2 ros-dashing-message-filters ros-dashing-image-transport
RUN DEBIAN_FRONTEND="noninteractive" apt install -y libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
RUN DEBIAN_FRONTEND="noninteractive" apt install -y ros-dashing-realsense-camera-msgs ros-dashing-realsense-ros2-camera
RUN dpkg-reconfigure --frontend noninteractive tzdata
RUN rm -rf /var/lib/apt/lists
WORKDIR /home/nvidia/ros2_ws
RUN mkdir -p ~/src && cd ~/src && git clone https://github.com/intel/ros2_intel_realsense.git
RUN sh -c 'echo "deb [arch=amd64,arm64] http://repo.ros2.org/ubuntu/main `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
RUN apt-get update -y
RUN apt install -y python3-colcon-common-extensions
RUN cd ~ && /bin/bash -c '. /opt/ros/dashing/setup.bash; colcon build --base-paths src/ros2_intel_realsense'
docker build . -t ros2_realsense
docker run -it --rm --net=host -e DISPLAY=$DISPLAY --ipc=host --privileged -v /tmp/.X11-unix/:/tmp/.X11-unix/ -v /tmp/argus_socket:/tmp/argus_socket --cap-add SYS_PTRACE ros2_realsense /bin/bash -c '. /opt/ros/dashing/setup.bash; source ~/install/local_setup.bash; realsense_ros2_camera'
However, when I am trying to implement it for ROS it seems built, executes, but throw multiple errors after the execution.
Any insights?
Dockerfile for ROS1
FROM nvcr.io/nvidia/l4t-base:r32.4.2
RUN apt-get update -y
RUN apt install -y wget software-properties-common apt-utils curl git
RUN /bin/bash -c 'echo "deb http://packages.ros.org/ros/ubuntu bionic main" > /etc/apt/sources.list.d/ros-latest.list'
RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
RUN apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key
RUN apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE
RUN add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u
RUN apt-get update -y
ENV TZ America/Los_Angeles
RUN DEBIAN_FRONTEND="noninteractive" apt-get install -y tzdata git curl cmake wget mc mlocate
RUN DEBIAN_FRONTEND="noninteractive" apt install -y ros-melodic-desktop clang-format ros-melodic-desktop-full python-pip python3-pip python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
RUN apt update -y
#RUN rm -rf /var/lib/apt/lists
RUN apt-get install -y librealsense2-dev librealsense2-utils
RUN apt install -y ros-melodic-ddynamic-reconfigure
RUN dpkg-reconfigure --frontend noninteractive tzdata
RUN rm -rf /var/lib/apt/lists
WORKDIR /home/nvidia/ws
RUN mkdir src && cd src && git clone https://github.com/intel-ros/realsense.git -b development
RUN rosdep init && rosdep update
RUN /bin/bash -c '. /opt/ros/melodic/setup.bash; cd /home/nvidia/ws; rosdep install --from-paths src --ignore-src; catkin_make'
docker build . -t librealsense1ros
docker run -it --rm --net=host -e DISPLAY=$DISPLAY --ipc=host --privileged -v /tmp/.X11-unix/:/tmp/.X11-unix/ -v /tmp/argus_socket:/tmp/argus_socket --cap-add SYS_PTRACE librealsense1ros /bin/bash -c '. /opt/ros/melodic/setup.bash; source devel/setup.bash; roslaunch realsense2_camera rs_camera.launch'
Expected frequency for depth = 30.00000 [ INFO] [1591514606.959555082]: Expected frequency for infra1 = 30.00000 [ INFO] [1591514607.039217389]: Expected frequency for infra2 = 30.00000 [ INFO] [1591514607.111038886]: Expected frequency for color = 30.00000 [ INFO] [1591514607.195585966]: setupStreams... [ INFO] [1591514607.263808675]: insert Depth to Stereo Module [ INFO] [1591514607.263963491]: insert Color to RGB Camera [ INFO] [1591514607.264124643]: insert Infrared to Stereo Module [ INFO] [1591514607.264218211]: insert Infrared to Stereo Module [ INFO] [1591514607.264299684]: insert Gyro to Motion Module [ INFO] [1591514607.264366820]: insert Accel to Motion Module [ INFO] [1591514607.634880751]: SELECTED BASE:Depth, 0 [ INFO] [1591514607.686268687]: RealSense Node Is Up! 07/06 00:23:27,697 WARNING [546861736320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61 07/06 00:23:27,781 ERROR [546056429952] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 07/06 00:23:27,790 WARNING [546861736320] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 07/06 00:23:27,810 ERROR [546056429952] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 07/06 00:23:27,818 ERROR [546316472704] (synthetic-stream.cpp:48) Exception was thrown during user processing callback! 07/06 00:23:27,843 ERROR [546056429952] (synthetic-stream.cpp:48) Exception was thrown during user processing callback!
linked thread https://forums.developer.nvidia.com/t/realsensed400-camera-can-not-work-on-jetson-xavier-nx/125138/19v