Update

husarion · Oct 24, 2024 · 9115c18 · 9115c18
1 parent 879e710
commit 9115c18
Show file tree

Hide file tree

Showing 2 changed files with 26 additions and 27 deletions.
diff --git a/Dockerfile.desktop b/Dockerfile.desktop
@@ -49,7 +49,6 @@ RUN echo "deb http://packages.ros.org/ros2/ubuntu jammy main" > /etc/apt/sources
 RUN apt-get update || true && \
     apt-get install --no-install-recommends -y \
         ros-${ROS_DISTRO}-ros-base \
-        ros-${ROS_DISTRO}-ament-cmake-clang-format \
         ros-${ROS_DISTRO}-image-transport \
         ros-${ROS_DISTRO}-image-transport-plugins \
         ros-${ROS_DISTRO}-diagnostic-updater \
@@ -125,7 +124,6 @@ RUN echo "deb http://packages.ros.org/ros2/ubuntu jammy main" > /etc/apt/sources
 RUN apt-get update || true && \
     apt-get install --no-install-recommends -y \
         ros-${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 \

diff --git a/Dockerfile.jetson b/Dockerfile.jetson
@@ -1,16 +1,18 @@
 # Reference: https://github.com/stereolabs/zed-ros2-wrapper/tree/master/docker
 
-ARG L4T_MAJOR=35
-ARG L4T_MINOR=3
+ARG JP_MAJOR=6
+ARG JP_MINOR=0
+ARG JP_PATCH=0
 ARG ZED_SDK_MAJOR=4
-ARG ZED_SDK_MINOR=0
-ARG ROS_DISTRO=foxy
+ARG ZED_SDK_MINOR=2
+ARG ROS_DISTRO=humble
 
 ### BUILD IMAGE ###
-FROM stereolabs/zed:${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}-devel-l4t-r${L4T_MAJOR}.${L4T_MINOR} AS build
+FROM stereolabs/zed:${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}-devel-jetson-jp${JP_MAJOR}.${JP_MINOR}.${JP_PATCH} AS build
 
-ARG L4T_MAJOR
-ARG L4T_MINOR
+ARG JP_MAJOR
+ARG JP_MINOR
+ARG JP_PATCH
 ARG ZED_SDK_MAJOR
 ARG ZED_SDK_MINOR
 ARG ROS_DISTRO
@@ -22,19 +24,19 @@ ENV NVIDIA_DRIVER_CAPABILITIES \
 
 # 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/*
+RUN apt update && apt install curl -y && \
+    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
+    apt update && apt upgrade -y && \
+    apt install -y --no-install-recommends ros-$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-${ROS_DISTRO}-diagnostic-updater \
@@ -81,13 +83,13 @@ RUN source /opt/ros/$ROS_DISTRO/setup.bash && \
         ' -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs' \
         ' -DCMAKE_CXX_FLAGS="-Wl,--allow-shlib-undefined"' \
         ' --no-warn-unused-cli' && \
-    rm -rf build log src
+    rm -rf build log
 
 ### 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
+FROM stereolabs/zed:${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}-runtime-jetson-jp${JP_MAJOR}.${JP_MINOR}.${JP_PATCH} AS runtime
 
-ARG L4T_MAJOR
-ARG L4T_MINOR
+ARG JP_MAJOR
+ARG JP_MINOR
 ARG ZED_SDK_MAJOR
 ARG ZED_SDK_MINOR
 ARG ROS_DISTRO
@@ -99,19 +101,18 @@ ENV NVIDIA_DRIVER_CAPABILITIES \
 
 # 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/*
+RUN apt update && apt install curl -y && \
+    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
+    apt update && apt upgrade -y && \
+    apt install -y --no-install-recommends ros-$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 \