Depthai ros rvc3

.github/workflows/main.workflow.yaml

@@ -38,19 +38,7 @@ jobs:
         id: vars
         run: echo ::set-output name=short_ref::${GITHUB_REF#refs/*/}
 
-      - name: Build Sim
-        uses: docker/build-push-action@v3
-        if: env.PUSH == 'false'
-        with:
-          build-args: |
-            ROS_DISTRO=${{ env.ROS_DISTRO }}
-            USE_RVIZ=1
-            SIM=1
-          platforms: |
-            amd64
-          no-cache: true
-
-      - name: Build and Push Sim
+      - name: Build and Push 
         uses: docker/build-push-action@v3
         if: env.PUSH == 'true'
         with:
@@ -59,34 +47,8 @@ jobs:
             USE_RVIZ=1
           platforms: |
             amd64
-          push: ${{ env.PUSH }}
-          no-cache: true
-          tags: | 
-            luxonis/rae-ros-sim:${{ steps.vars.outputs.short_ref }}
-
-      - name: Build Robot
-        uses: docker/build-push-action@v3
-        if: env.PUSH == 'false'
-        with:
-          build-args: |
-            ROS_DISTRO=${{ env.ROS_DISTRO }}
-            USE_RVIZ=0
-            SIM=0
-          platforms: |
-            arm64
-          no-cache: true
-
-      - name: Build and Push Robot
-        uses: docker/build-push-action@v3
-        if: env.PUSH == 'true'
-        with:
-          build-args: |
-            ROS_DISTRO=${{ env.ROS_DISTRO }}
-            USE_RVIZ=0
-            SIM=0
-          platforms: |
             arm64
           push: ${{ env.PUSH }}
           no-cache: true
           tags: | 
-            luxonis/rae-ros-robot:${{ steps.vars.outputs.short_ref }}
+            luxonis/depthai-ros-rae

Dockerfile

@@ -1,28 +1,35 @@
 ARG ROS_DISTRO=humble
-FROM luxonis/depthai-ros-rae AS builder
+FROM ros:${ROS_DISTRO}-ros-core AS builder
 ARG SIM=0
-ARG CORE_NUM=1
+ARG CORE_NUM=4
 ARG BUILD_TYPE="RelWithDebInfo"
 
 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update \
-   && apt-get -y install --no-install-recommends software-properties-common git libusb-1.0-0-dev wget zsh python3-colcon-common-extensions python3-rosdep build-essential neovim tmux htop net-tools iputils-ping gpiod gstreamer1.0-plugins-bad gstreamer1.0-alsa libasound2-dev busybox
+   && apt-get -y install --no-install-recommends software-properties-common git libusb-1.0-0-dev wget zsh python3-colcon-common-extensions python3-rosdep build-essential neovim tmux htop net-tools iputils-ping gpiod gstreamer1.0-plugins-bad gstreamer1.0-alsa libasound2-dev busybox libopencv-dev
 
-ENV WS=/ws
-RUN mkdir -p $WS/src
-COPY ./ .$WS/src/rae-ros
+RUN rosdep init
 
-RUN rm -rf .$WS/src/rae-ros/rae_gazebo
+ENV DEBIAN_FRONTEND=dialog
+RUN sh -c "$(wget https://raw.github.com/ohmyzsh/ohmyzsh/master/tools/install.sh -O -)"
 
-RUN cd  .$WS/ && apt update && rosdep update && rosdep install --from-paths src --ignore-src  -y --skip-keys depthai --skip-keys depthai_bridge --skip-keys depthai_ros_driver --skip-keys audio_msgs --skip-keys laserscan_kinect --skip-keys ira_laser_tools
+RUN cd /tmp \
+   && git clone --recursive https://github.com/luxonis/depthai-core.git --branch rvc3_develop \
+   && cd /tmp/depthai-core && git reset --hard 3c800a05572ae16de825925370587df1c511aac5 && git submodule update --init --recursive \
+   && cd /tmp && cmake -Hdepthai-core -Bdepthai-core/build -DBUILD_SHARED_LIBS=ON -DCMAKE_INSTALL_PREFIX=/usr/local -DCMAKE_BUILD_TYPE=${BUILD_TYPE} \
+   && cmake --build depthai-core/build --target install --parallel ${CORE_NUM} \
+   && cd /tmp \
+   && rm -r depthai-core
 
-RUN cd .$WS/ && . /opt/ros/${ROS_DISTRO}/setup.sh && . $UNDERLAY_WS/install/setup.sh && colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=${BUILD_TYPE}
+ENV UNDERLAY_WS=/underlay_ws
+RUN mkdir -p $UNDERLAY_WS/src
+RUN cd ./$UNDERLAY_WS/src && git clone https://github.com/BrettRD/ros-gst-bridge.git
+RUN cd ./$UNDERLAY_WS/src && git clone https://github.com/Serafadam/ira_laser_tools.git
+RUN cd ./$UNDERLAY_WS/src && git clone https://github.com/Serafadam/depth_nav_tools.git
+RUN cd .$UNDERLAY_WS/src && git clone --branch rae_pipeline_humble https://github.com/luxonis/depthai-ros.git
 
-RUN echo "if [ -f ${WS}/install/setup.zsh ]; then source ${WS}/install/setup.zsh; fi" >> $HOME/.zshrc
-RUN echo 'eval "$(register-python-argcomplete3 ros2)"' >> $HOME/.zshrc
-RUN echo 'eval "$(register-python-argcomplete3 colcon)"' >> $HOME/.zshrc
-RUN echo "if [ -f ${WS}/install/setup.bash ]; then source ${WS}/install/setup.bash; fi" >> $HOME/.bashrc
-ENTRYPOINT [ "/ws/src/rae-ros/entrypoint.sh" ]
-RUN rm -rf /usr/share/doc
+RUN apt update && rosdep update
 
-CMD ["zsh"]
+RUN cd .$UNDERLAY_WS/ && rosdep install --from-paths src --ignore-src  -y --skip-keys depthai
+
+RUN cd .$UNDERLAY_WS/ && . /opt/ros/${ROS_DISTRO}/setup.sh && colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=${BUILD_TYPE}

rae_bringup/launch/robot.launch.py

@@ -10,6 +10,14 @@ def generate_launch_description():
     hw_prefix = get_package_share_path('rae_hw')
     return launch.LaunchDescription([
         IncludeLaunchDescription(
+<<<<<<< HEAD
+        PythonLaunchDescriptionSource(
+            os.path.join(camera_prefix, 'launch', 'camera.launch.py'))),
+            IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(hw_prefix, 'launch', 'control.launch.py'))),
+    ])
+=======
             PythonLaunchDescriptionSource(
                 os.path.join(camera_prefix, 'launch', 'rae_camera.launch.py'))),
         IncludeLaunchDescription(
@@ -19,3 +27,4 @@ def generate_launch_description():
                               'enable_battery_status': 'true',
                               'enable_localization': 'true'}.items())
     ])
+>>>>>>> b5c1410de4d7aae6afc19dd6060d4f5132835a1d

rae_camera/CMakeLists.txt

@@ -69,7 +69,6 @@ add_executable(perception_ipc_rtabmap src/perception_ipc_rtabmap)
 
 ament_target_dependencies(camera
 ${dependencies})
-
 install(TARGETS
 camera
 DESTINATION lib/${PROJECT_NAME})

rae_description/urdf/rae.urdf.xacro

@@ -1,4 +1,5 @@
 <?xml version="1.0"?>
+
 <robot name="rae"
   xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:include filename="inertial_moment_calc.xacro"/>

rae_gazebo/worlds/world_demo.sdf

@@ -72,4 +72,4 @@ https://fuel.gazebosim.org/1.0/mustafaxfe/models/Depot
 </uri>
 </include>
   </world>
-</sdf>
+</sdf>