Isaac ROS 3.2 Dockerfile for ZED SDK & zed-ros2-wrapper

Robotics & Edge Computing Robotics - Isaac Isaac ROS
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1

Hi,
Isaac ROS 3.2 documentation has instructions to set up a ZED camera as a user install in the container. I was wondering how to add it to a Dockerfile.

My current attempt is creating the following Dockerfile.zed under isaac_ros_common/docker/:

ARG BASE_IMAGE
FROM ${BASE_IMAGE} AS catscanners

# disable terminal interaction for apt
ENV DEBIAN_FRONTEND=noninteractive
ENV SHELL=/bin/bash
SHELL ["/bin/bash", "-c"]

# Download dependencies for zed SDK
RUN apt-get install -y --no-install-recommends \
    lsb-release \
    wget \
    less \
    zstd \
    udev \
    sudo \
    apt-transport-https

# ZED SDK itself
RUN --mount=type=cache,target=/var/cache/apt \
    wget -q --no-check-certificate -O ZED_SDK_Linux.run https://stereolabs.sfo2.cdn.digitaloceanspaces.com/zedsdk/4.2/ZED_SDK_Tegra_L4T36.4_v4.2.2.zstd.run \
    && chmod 777 ./ZED_SDK_Linux.run \
    && ./ZED_SDK_Linux.run silent skip_od_module skip_python skip_drivers \
    && ln -sf /usr/lib/aarch64-linux-gnu/tegra/libv4l2.so.0 /usr/lib/aarch64-linux-gnu/libv4l2.so \
    && rm -rf /usr/local/zed/resources/* \
    && rm -rf ZED_SDK_Linux.run \
    && rm -rf /var/lib/apt/lists/*

# Does not work
# zed-ros2-wrapper
# RUN --mount=type=cache,target=/var/cache/apt \
#     mkdir -p ${ROS_ROOT}/src && cd ${ROS_ROOT}/src \
#     && git clone --recurse-submodules https://github.com/stereolabs/zed-ros2-wrapper && cd .. \
#     && apt update \
#     && rosdep install --from-paths src/zed-ros2-wrapper --ignore-src -r -y \
#     && colcon build --symlink-install --packages-above zed_wrapper

After entering the container with cd ${ISAAC_ROS_WS}/src/isaac_ros_common && ./scripts/run_dev.sh -i "ros2_humble.zed", ZED Explorer works, but only after a chown -hR admin /usr/local/zed.

For a persistent build of the wrapper, I can run this in the container:

cd ${ISAAC_ROS_WS} && \
sudo apt update && \
rosdep update && rosdep install --from-paths src/zed-ros2-wrapper --ignore-src -r -y && \
colcon build --symlink-install --packages-up-to zed_wrapper

After which, all new containers via the run_dev script allow me to launch the zed node, but only after
chown -hR admin /usr/local/zed && source $(pwd)/install/local_setup.bash

Is there a way to include that wrapper build step in the Dockerfile itself or am I going about this the wrong way? I noticed Isaac ROS 3.1 had a user install Dockerfile for the SDK, but build is handled inside the container. At least Stereolabs has an unrelated zed-ros2-wrapper Dockerfile where they run colcon build in it. Thanks in advance.

Edit: Just tried following these steps again on Orin NX with a (mostly) fresh isaac_ros_common and it appears now the colcon build isn’t persistent, but I can launch ZED_Explorer without the chown & source. Not sure what the difference is…

2

Some further developments. Modified the Dockerfile as follows:

ARG BASE_IMAGE
FROM ${BASE_IMAGE} AS catscanners

# disable terminal interaction for apt
ENV DEBIAN_FRONTEND=noninteractive
ENV SHELL=/bin/bash
SHELL ["/bin/bash", "-c"]

# Download dependencies for zed SDK
RUN apt-get install -y --no-install-recommends \
    lsb-release \
    wget \
    less \
    zstd \
    udev \
    sudo \
    apt-transport-https

# isaac_ros_yolov8 deps
RUN --mount=type=cache,target=/var/cache/apt \
apt-get update && apt-get install -y \
    ros-humble-isaac-ros-yolov8 \
    ros-humble-isaac-ros-dnn-image-encoder \
    ros-humble-isaac-ros-tensor-rt \
    ros-humble-isaac-ros-examples \
    ros-humble-isaac-ros-stereo-image-proc \
    ros-humble-isaac-ros-zed

# ZED SDK 
RUN --mount=type=cache,target=/var/cache/apt \
    wget -q --no-check-certificate -O ZED_SDK_Linux.run https://stereolabs.sfo2.cdn.digitaloceanspaces.com/zedsdk/4.2/ZED_SDK_Tegra_L4T36.4_v4.2.2.zstd.run \
    && chmod 777 ./ZED_SDK_Linux.run \
    && ./ZED_SDK_Linux.run silent skip_od_module skip_python skip_drivers \
    && ln -sf /usr/lib/aarch64-linux-gnu/tegra/libv4l2.so.0 /usr/lib/aarch64-linux-gnu/libv4l2.so \
    && rm -rf /usr/local/zed/resources/* \
    && rm -rf ZED_SDK_Linux.run \
    && rm -rf /var/lib/apt/lists/*

RUN --mount=type=cache,target=/var/cache/apt \
    mkdir -p ${ROS_ROOT}/src && cd ${ROS_ROOT}/src \
    && git clone --recurse-submodules https://github.com/stereolabs/zed-ros2-wrapper && cd .. \
    && apt update \
    && apt-get update \
    && rosdep install --from-paths src/zed-ros2-wrapper --ignore-src -r -y

Entering the container

cd ${ISAAC_ROS_WS}/src/isaac_ros_common && ./scripts/run_dev.sh -i "ros2_humble.zed"

1st time build only (seems persistent?)

cd ${ISAAC_ROS_WS} && \
colcon build --symlink-install --packages-up-to zed_wrapper

Any new container afterwards:

source $(pwd)/install/local_setup.bash

Launching ZED node

ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed

Took about 11 min for “optimizing AI model”, which happens every time when the node is first launched in a new container. Perhaps swaying off-topic from my original question but running the isaac YOLOv8 example instead seems to skip that step. Not sure how to either have that persistent in the image, or skip it like the example

ros2 launch isaac_ros_examples isaac_ros_examples.launch.py launch_fragments:=zed_mono_rect,yolov8 model_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/yolov8/yolov8s.onnx engine_file_path:=${ISAAC_ROS_WS}/isaac_ros_assets/models/yolov8/yolov8s.plan interface_specs_file:=${ISAAC_ROS_WS}/isaac_ros_assets/isaac_ros_yolov8/zed2_quickstart_interface_specs.json