Docker based on stereolabs image (#18)

* Simplify version * new version of zed-wrapper * fix * update rviz config Signed-off-by: Jan Brzyk <[email protected]> * Update README.md * Update README.md --------- Signed-off-by: Jan Brzyk <[email protected]> Co-authored-by: Jan Brzyk <[email protected]>
husarion · Dec 8, 2023 · 5dc7585 · 5dc7585
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diff --git a/Dockerfile.desktop b/Dockerfile.desktop
@@ -1,16 +1,15 @@
 
 # Reference: https://github.com/stereolabs/zed-ros2-wrapper/tree/master/docker
 
-ARG UBUNTU_RELEASE_YEAR=22
+ARG UBUNTU_RELEASE_YEAR=22.04
 ARG CUDA_MAJOR=11
-ARG CUDA_MINOR=7
-ARG CUDA_PATCH=1
+ARG CUDA_MINOR=8
 ARG ZED_SDK_MAJOR=4
 ARG ZED_SDK_MINOR=0
 ARG ROS_DISTRO=humble
 
 ### DOWNLOAD HUSARNET ###
-FROM ubuntu:20.04 AS husarnet-dds-getter
+FROM ubuntu:${UBUNTU_RELEASE_YEAR} AS husarnet-dds-getter
 
 ARG TARGETARCH
 ARG HUSARNET_DDS_RELEASE="v1.3.5"
@@ -23,12 +22,11 @@ RUN apt update && apt install -y \
 RUN curl -L https://github.com/husarnet/husarnet-dds/releases/download/${HUSARNET_DDS_RELEASE}/husarnet-dds-linux-${TARGETARCH} -o /usr/bin/husarnet-dds
 
 ### BUILD IMAGE ###
-FROM nvidia/cuda:${CUDA_MAJOR}.${CUDA_MINOR}.${CUDA_PATCH}-devel-ubuntu${UBUNTU_RELEASE_YEAR}.04 AS build
+FROM stereolabs/zed:${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}-devel-cuda${CUDA_MAJOR}.${CUDA_MINOR}-ubuntu${UBUNTU_RELEASE_YEAR} AS build
 
 ARG UBUNTU_RELEASE_YEAR
 ARG CUDA_MAJOR
 ARG CUDA_MINOR
-ARG CUDA_PATCH
 ARG ZED_SDK_MAJOR
 ARG ZED_SDK_MINOR
 ARG ROS_DISTRO
@@ -38,18 +36,6 @@ SHELL ["/bin/bash", "-c"]
 ENV NVIDIA_DRIVER_CAPABILITIES \
     ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}compute,video,utility
 
-# Setup the ZED SDK
-RUN echo "Europe/Paris" > /etc/localtime ; echo "CUDA Version ${CUDA_MAJOR}.${CUDA_MINOR}.0" > /usr/local/cuda/version.txt && \
-    apt-get update -y || true && \
-    apt-get install --no-install-recommends dialog bash-completion lsb-release wget less udev sudo  build-essential cmake zstd python3 python3-pip libpng-dev libgomp1 -y && \
-    python3 -m pip install --upgrade pip; python3 -m pip install numpy opencv-python-headless && \
-    wget -q -O ZED_SDK_Linux_Ubuntu.run https://download.stereolabs.com/zedsdk/${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}/cu${CUDA_MAJOR}${CUDA_MINOR}/ubuntu${UBUNTU_RELEASE_YEAR} && \
-    chmod +x ZED_SDK_Linux_Ubuntu.run && \
-    ./ZED_SDK_Linux_Ubuntu.run -- silent skip_tools skip_cuda && \
-    ln -sf /lib/x86_64-linux-gnu/libusb-1.0.so.0 /usr/lib/x86_64-linux-gnu/libusb-1.0.so && \
-    rm ZED_SDK_Linux_Ubuntu.run && \
-    rm -rf /var/lib/apt/lists/*
-
 # ROS install
 ENV ROS_DISTRO $ROS_DISTRO
 RUN echo "deb http://packages.ros.org/ros2/ubuntu jammy main" > /etc/apt/sources.list.d/ros2-latest.list && \
@@ -110,7 +96,7 @@ RUN source /opt/ros/$ROS_DISTRO/setup.bash && \
     ' -DCMAKE_CXX_FLAGS="-Wl,--allow-shlib-undefined"'
 
 ### BUILD RUNTIME ### # Reduction from 13.4GB to 8.6GB
-FROM nvidia/cuda:${CUDA_MAJOR}.${CUDA_MINOR}.${CUDA_PATCH}-runtime-ubuntu${UBUNTU_RELEASE_YEAR}.04 AS runtime
+FROM stereolabs/zed:${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}-runtime-cuda${CUDA_MAJOR}.${CUDA_MINOR}-ubuntu${UBUNTU_RELEASE_YEAR} AS runtime
 
 COPY --from=build /ros2_ws /ros2_ws
 
@@ -126,18 +112,6 @@ SHELL ["/bin/bash", "-c"]
 ENV NVIDIA_DRIVER_CAPABILITIES \
     ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}compute,video,utility
 
-# Setup the ZED SDK
-RUN echo "Europe/Paris" > /etc/localtime ; echo "CUDA Version ${CUDA_MAJOR}.${CUDA_MINOR}.0" > /usr/local/cuda/version.txt && \
-    apt-get update -y || true && \
-    apt-get install --no-install-recommends dialog bash-completion lsb-release wget less udev sudo  build-essential cmake zstd python3 python3-pip libpng-dev libgomp1 -y && \
-    python3 -m pip install --upgrade pip; python3 -m pip install numpy opencv-python-headless && \
-    wget -q -O ZED_SDK_Linux_Ubuntu.run https://download.stereolabs.com/zedsdk/${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}/cu${CUDA_MAJOR}${CUDA_MINOR}/ubuntu${UBUNTU_RELEASE_YEAR} && \
-    chmod +x ZED_SDK_Linux_Ubuntu.run && \
-    ./ZED_SDK_Linux_Ubuntu.run -- silent skip_tools skip_cuda && \
-    ln -sf /lib/x86_64-linux-gnu/libusb-1.0.so.0 /usr/lib/x86_64-linux-gnu/libusb-1.0.so && \
-    rm ZED_SDK_Linux_Ubuntu.run && \
-    rm -rf /var/lib/apt/lists/*
-
 # ROS install
 ENV ROS_DISTRO $ROS_DISTRO
 RUN echo "deb http://packages.ros.org/ros2/ubuntu jammy main" > /etc/apt/sources.list.d/ros2-latest.list && \

diff --git a/Dockerfile.jetson b/Dockerfile.jetson
@@ -2,9 +2,6 @@
 
 ARG L4T_MAJOR=35
 ARG L4T_MINOR=3
-ARG CUDA_MAJOR=11
-ARG CUDA_MINOR=4
-ARG CUDA_PATCH=19
 ARG ZED_SDK_MAJOR=4
 ARG ZED_SDK_MINOR=0
 ARG ROS_DISTRO=foxy
@@ -23,13 +20,10 @@ RUN apt update && apt install -y \
 RUN curl -L https://github.com/husarnet/husarnet-dds/releases/download/${HUSARNET_DDS_RELEASE}/husarnet-dds-linux-${TARGETARCH} -o /usr/bin/husarnet-dds
 
 ### BUILD IMAGE ###
-FROM nvcr.io/nvidia/l4t-cuda:${CUDA_MAJOR}.${CUDA_MINOR}.${CUDA_PATCH}-devel AS build
+FROM stereolabs/zed:${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}-devel-l4t-r${L4T_MAJOR}.${L4T_MINOR} AS build
 
 ARG L4T_MAJOR
 ARG L4T_MINOR
-ARG CUDA_MAJOR
-ARG CUDA_MINOR
-ARG CUDA_PATCH
 ARG ZED_SDK_MAJOR
 ARG ZED_SDK_MINOR
 ARG ROS_DISTRO
@@ -39,20 +33,6 @@ SHELL ["/bin/bash", "-c"]
 ENV NVIDIA_DRIVER_CAPABILITIES \
  ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}compute,video,utility
 
-# Setup the ZED SDK
-RUN echo "# R${L4T_MAJOR} (release), REVISION: ${L4T_MINOR}" > /etc/nv_tegra_release && \
-    apt-get update -y || true && \
-    apt-get install -y --no-install-recommends zstd wget less cmake curl gnupg2 \
-    build-essential python3 python3-pip python3-dev python3-setuptools libusb-1.0-0-dev -y && \
-    pip install protobuf && \
-    wget -q --no-check-certificate -O ZED_SDK_Linux.run \
-    https://download.stereolabs.com/zedsdk/${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}/l4t${L4T_MAJOR}.${L4T_MINOR}/jetsons && \
-    chmod +x ZED_SDK_Linux.run && \
-    ./ZED_SDK_Linux.run -- silent skip_tools skip_cuda && \
-    rm -rf /usr/local/zed/resources/* && \
-    rm -rf ZED_SDK_Linux.run && \
-    rm -rf /var/lib/apt/lists/*
-
 # ROS install
 ENV ROS_DISTRO $ROS_DISTRO
 RUN echo "deb http://packages.ros.org/ros2/ubuntu focal main" > /etc/apt/sources.list.d/ros2-latest.list && \
@@ -121,13 +101,10 @@ RUN source /opt/ros/$ROS_DISTRO/setup.bash && \
     ' --no-warn-unused-cli'
 
 ### RUNTIME IMAGE ### # Reduction from 6.1GB to 3.9GB
-FROM nvcr.io/nvidia/l4t-cuda:${CUDA_MAJOR}.${CUDA_MINOR}.${CUDA_PATCH}-runtime AS runtime
+FROM stereolabs/zed:${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}-runtime-l4t-r${L4T_MAJOR}.${L4T_MINOR} AS runtime
 
 ARG L4T_MAJOR
 ARG L4T_MINOR
-ARG CUDA_MAJOR
-ARG CUDA_MINOR
-ARG CUDA_PATCH
 ARG ZED_SDK_MAJOR
 ARG ZED_SDK_MINOR
 ARG ROS_DISTRO
@@ -139,20 +116,6 @@ SHELL ["/bin/bash", "-c"]
 ENV NVIDIA_DRIVER_CAPABILITIES \
  ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}compute,video,utility
 
-# Setup the ZED SDK
-RUN echo "# R${L4T_MAJOR} (release), REVISION: ${L4T_MINOR}" > /etc/nv_tegra_release && \
-    apt-get update -y || true && \
-    apt-get install -y --no-install-recommends zstd wget less cmake curl gnupg2 \
-    build-essential python3 python3-pip python3-dev python3-setuptools libusb-1.0-0-dev -y && \
-    pip install protobuf && \
-    wget -q --no-check-certificate -O ZED_SDK_Linux.run \
-    https://download.stereolabs.com/zedsdk/${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}/l4t${L4T_MAJOR}.${L4T_MINOR}/jetsons && \
-    chmod +x ZED_SDK_Linux.run && \
-    ./ZED_SDK_Linux.run -- silent skip_tools skip_cuda && \
-    rm -rf /usr/local/zed/resources/* && \
-    rm -rf ZED_SDK_Linux.run && \
-    rm -rf /var/lib/apt/lists/*
-
 # 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 && \

diff --git a/README.md b/README.md
@@ -56,24 +56,24 @@ Replace `<zed_image>` with appropriate Docker image from below table.
 
 </div>
 
-**3. Select the appropriate launch file**
+**3. Select the appropriate camera model**
 
 ```bash
-export CAMERA_LAUNCH=<camera_launch>
+export CAMERA_MODEL=<camera_model>
 ```
 
-Replace `<camera_launch>` with appropriate launch file for your camera from below table.
+Replace `<camera_model>` with appropriate camera model from below table.
 
 <div style="display: flex; justify-content: center;">
 
-| **Product name**  | **Launch file**         |
-| ----------------- | ----------------------- |
-| ZED               | zed.launch.py           |
-| ZED Mini          | zedm.launch.py          |
-| ZED 2             | zed2.launch.py          |
-| ZED 2i            | zed2i.launch.py         |
-| ZED X             | zedx.launch.py          |
-| ZED X Mini        | zedxm.launch.py         |
+| **Product Name**  | **Camera Model** |
+| ----------------- | ---------------- |
+| ZED               | zed              |
+| ZED Mini          | zedm             |
+| ZED 2             | zed2             |
+| ZED 2i            | zed2i            |
+| ZED X             | zedx             |
+| ZED X Mini        | zedxm            |
 
 </div>
 

diff --git a/demo/compose.yaml b/demo/compose.yaml
@@ -5,15 +5,15 @@ services:
     network_mode: host
     ipc: host
     runtime: nvidia
-    environment:
-      - CAMERA_LAUNCH=${CAMERA_LAUNCH:-err}
     volumes:
       - ./params:/ros2_ws/src/zed-ros-wrapper/zed_wrapper/params
       - /dev/shm:/dev/shm
       - /tmp/zed_ai/:/usr/local/zed/resources/ # Configuration files for quick start
       - /tmp/argus_socket:/tmp/argus_socket
     privileged: true
-    command: ros2 launch zed_wrapper ${CAMERA_LAUNCH}
+    command: >
+      ros2 launch zed_wrapper zed_camera.launch.py
+      camera_model:=${CAMERA_MODEL}
 
   rviz:
     image: husarion/rviz2:humble

diff --git a/demo/default.rviz b/demo/default.rviz
@@ -1,13 +1,13 @@
 Panels:
   - Class: rviz_common/Displays
-    Help Height: 78
+    Help Height: 163
     Name: Displays
     Property Tree Widget:
       Expanded:
         - /Global Options1
         - /Status1
       Splitter Ratio: 0.5
-    Tree Height: 361
+    Tree Height: 225
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -52,31 +52,31 @@ Visualization Manager:
       Frame Timeout: 15
       Frames:
         All Enabled: true
-        base_link:
-          Value: true
         map:
           Value: true
         odom:
           Value: true
-        zed2_baro_link:
+        zed_baro_link:
+          Value: true
+        zed_camera_center:
           Value: true
-        zed2_base_link:
+        zed_camera_link:
           Value: true
-        zed2_camera_center:
+        zed_imu_link:
           Value: true
-        zed2_left_camera_frame:
+        zed_left_camera_frame:
           Value: true
-        zed2_left_camera_optical_frame:
+        zed_left_camera_optical_frame:
           Value: true
-        zed2_mag_link:
+        zed_mag_link:
           Value: true
-        zed2_right_camera_frame:
+        zed_right_camera_frame:
           Value: true
-        zed2_right_camera_optical_frame:
+        zed_right_camera_optical_frame:
           Value: true
-        zed2_temp_left_link:
+        zed_temp_left_link:
           Value: true
-        zed2_temp_right_link:
+        zed_temp_right_link:
           Value: true
       Marker Scale: 1
       Name: TF
@@ -86,23 +86,24 @@ Visualization Manager:
       Tree:
         map:
           odom:
-            base_link:
-              zed2_base_link:
-                zed2_camera_center:
-                  zed2_baro_link:
+            zed_camera_link:
+              zed_camera_center:
+                zed_baro_link:
+                  {}
+                zed_left_camera_frame:
+                  zed_imu_link:
+                    {}
+                  zed_left_camera_optical_frame:
+                    {}
+                  zed_temp_left_link:
+                    {}
+                zed_mag_link:
+                  {}
+                zed_right_camera_frame:
+                  zed_right_camera_optical_frame:
                     {}
-                  zed2_left_camera_frame:
-                    zed2_left_camera_optical_frame:
-                      {}
-                    zed2_temp_left_link:
-                      {}
-                  zed2_mag_link:
+                  zed_temp_right_link:
                     {}
-                  zed2_right_camera_frame:
-                    zed2_right_camera_optical_frame:
-                      {}
-                    zed2_temp_right_link:
-                      {}
       Update Interval: 0
       Value: true
     - Class: rviz_default_plugins/Image
@@ -117,7 +118,7 @@ Visualization Manager:
         Durability Policy: Volatile
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /zed2/zed_node/rgb/image_rect_color
+        Value: /zed/zed_node/rgb/image_rect_color
       Value: true
     - Alpha: 1
       Autocompute Intensity Bounds: true
@@ -149,7 +150,7 @@ Visualization Manager:
         Filter size: 10
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /zed2/zed_node/point_cloud/cloud_registered
+        Value: /zed/zed_node/point_cloud/cloud_registered
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
@@ -199,7 +200,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 8.800000190734863
+      Distance: 10.23872184753418
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -214,10 +215,10 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.6803981065750122
+      Pitch: 0.5303981304168701
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 2.3203999996185303
+      Yaw: 3.640410900115967
     Saved: ~
 Window Geometry:
   Displays:
@@ -227,7 +228,7 @@ Window Geometry:
   Hide Right Dock: false
   Image:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b4fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000001f2000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000233000000bc0000002800ffffff000000010000010f000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025300fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b4fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000001bf000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000200000000ef0000002800fffffffb0000000a0049006d0061006700650100000233000000bc0000000000000000000000010000010f000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025300fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -237,5 +238,5 @@ Window Geometry:
   Views:
     collapsed: false
   Width: 1200
-  X: 72
-  Y: 60
+  X: 313
+  Y: 102