Dockerfile.zed

# Copyright (C) 2021, Raffaello Bonghi <raffaello@rnext.it>
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# Docker file for aarch64 based Jetson device
ARG TAG_IMAGE
FROM nanosaur/perception:${TAG_IMAGE}
# ZED version
ARG ZED_SDK_MAJOR=3
ARG ZED_SDK_MINOR=7

################ INSTALL ZED Camera drivers #################################

#This environment variable is needed to use the streaming features on Jetson inside a container
# install options: silent, runtime_only, skip_tools, skip_od_module, skip_python
# Example link: https://download.stereolabs.com/zedsdk/3.7/l4t32.7/jetsons
ENV LOGNAME root
RUN apt-get update -y && \
    apt-get install --no-install-recommends lsb-release wget less udev sudo apt-transport-https build-essential -y && \
    echo "# R32 (release), REVISION: ${L4T_MINOR_VERSION}" > /etc/nv_tegra_release && \
    wget -q --no-check-certificate -O ZED_SDK_Linux_JP.run https://download.stereolabs.com/zedsdk/${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}/l4t${L4T}/jetsons && \
    chmod +x ZED_SDK_Linux_JP.run ; ./ZED_SDK_Linux_JP.run silent skip_tools skip_python skip_od_module && \
    rm -rf /usr/local/zed/resources/* \
    rm -rf ZED_SDK_Linux_JP.run && \
    rm -rf /var/lib/apt/lists/*

#This symbolic link is needed to use the streaming features on Jetson inside a container
RUN ln -sf /usr/lib/aarch64-linux-gnu/tegra/libv4l2.so.0 /usr/lib/aarch64-linux-gnu/libv4l2.so

# Download and build zed ROS2
RUN mkdir -p /opt/ros/foxy/src && \
    cd /opt/ros/foxy/src && \
    git clone --recursive https://github.com/stereolabs/zed-ros2-wrapper.git && \
    . /opt/ros/$ROS_DISTRO/install/setup.sh && \
    cd /opt/ros/foxy && \
    colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=Release && \
    rm -Rf src logs build

################ Final enviroment setup ####################

# run ros package launch file
CMD ["ros2", "launch", "nanosaur_perception", "zed.launch.py"]