Foxy dockerfile (#165)

* separate branch for humble * humble dockerfile update * galactic dockerfile update * foxy dockerfile * Galactic dockerfile (#167) * separate branch for humble * humble dockerfile update * update readme * galactic dockerfile update * updated dockerfile and workflow * formatting * typo * update versions * typo * try different naming scheme * add required ros distro * typo * latest to 22.04 * separate clang format * different argument format * update lint version * update setup ros as well * lint cmakelists * update workflow * remove gcc10 from dockerfile * Revert "remove gcc10 from dockerfile" This reverts commit ca4d011. * remove gcc10 in dockerfile * Humble dockerfile (#166) * humble dockerfile update * update readme * updated dockerfile and workflow * formatting * typo * update versions * typo * try different naming scheme * add required ros distro * typo * latest to 22.04 * separate clang format * different argument format * update lint version * update setup ros as well * lint cmakelists * update workflow * remove gcc10 in dockerfile * use env variables for distro * update readme * changing platform syntax * remove platform var * syntax change again * syntax again * reword * reword * minor typo * add colcon sequential arg * rewording * change platform * minor arg change * cmakelists format * minor typo
luxonis · Dec 2, 2022 · ebc6d6f · ebc6d6f
1 parent e767261
commit ebc6d6f
Show file tree

Hide file tree

Showing 24 changed files with 720 additions and 749 deletions.
diff --git a/.github/workflows/main.workflow.yml b/.github/workflows/main.workflow.yml
@@ -6,117 +6,115 @@ on:
   push:
     branches:
       - main
-      - devel
+      - humble
+      - galactic
+      - foxy
     tags:
       - 'v*'
   pull_request:
     branches:
       - main
-      - devel
+      - humble
+      - galactic
+      - foxy
+env:
+  ROS_DISTRO: foxy
 
 jobs:
-
-  style:
+  clang-format-lint:
+    name: ament_clang_format
     runs-on: ubuntu-20.04
-
+    strategy:
+      fail-fast: false
     steps:
-    - uses: actions/checkout@v2
-
-    - name: Clang-Format lint
-
-      uses: DoozyX/clang-format-lint-action@v0.13
+    - uses: actions/checkout@v2.3.4
+    - uses: ros-tooling/setup-ros@0.4.1
+      with:
+        required-ros-distributions: ${{ env.ROS_DISTRO }}
+    - uses: ros-tooling/action-ros2-lint@0.1.3
       with:
-        source: '.'
-        extensions: 'h,hpp,c,cpp'
-        clangFormatVersion: 10
-
-  ROS1-build:
-    runs-on: ${{ matrix.os }}
+        distribution: ${{ env.ROS_DISTRO }}
+        linter: clang_format
+        arguments: --config ./.clang-format
+        package-name: |
+          depthai_bridge
+          depthai_examples
+          depthai_ros_msgs
+          depthai_ros
+  linting:
+    name: ament_${{ matrix.linter }}
+    runs-on: ubuntu-20.04
     strategy:
+      fail-fast: false 
       matrix:
-        os: [ubuntu-18.04, ubuntu-20.04]
-
+        linter: [xmllint, pep257, lint_cmake]
     steps:
-      - uses: actions/checkout@v2
-
-      - name: Melodic build
-        if: matrix.os == 'ubuntu-18.04'
-        uses: ros-tooling/setup-ros@v0.2
-        with:
-          required-ros-distributions: melodic
-
-      - name: Noetic build
-        if: matrix.os == 'ubuntu-20.04'
-        uses: ros-tooling/setup-ros@v0.2
-        with:
-          required-ros-distributions: noetic
-
-      - name: Installing libusb
-        run: sudo apt-get install libusb-1.0-0-dev
-
-      - name: Installing DepthAi Core
-        run: sudo wget -qO- https://raw.githubusercontent.com/luxonis/depthai-ros/$GITHUB_SHA/install_dependencies.sh | sudo bash
-
-      - name: Build depthai-bridge melodic
-        if: matrix.os == 'ubuntu-18.04'  
-        uses: ros-tooling/action-ros-ci@v0.2
-        with:
-          # vcs-repo-file-url: "${{ github.workspace }}/.github/workflows/examples.repos"
-          # package-name: depthai_examples
-          target-ros1-distro: melodic
-          skip-tests: true
-
-      - name: Build depthai-bridge noetic
-        if: matrix.os == 'ubuntu-20.04'
-        uses: ros-tooling/action-ros-ci@v0.2
-        with:
-          # vcs-repo-file-url: "${{ github.workspace }}/.github/workflows/examples.repos"
-          # package-name: depthai_examples
-          target-ros1-distro: noetic
-          skip-tests: true
-
+    - uses: actions/checkout@v2.3.4
+    - uses: ros-tooling/setup-ros@0.4.1
+      with:
+        required-ros-distributions: ${{ env.ROS_DISTRO }}
+    - uses: ros-tooling/action-ros2-lint@0.1.3
+      with:
+        distribution: ${{ env.ROS_DISTRO }}
+        linter: ${{ matrix.linter }}
+        package-name: |
+          depthai_bridge
+          depthai_examples
+          depthai_ros_msgs
+          depthai_ros
 
-  ROS2-build:
+  docker-build:
+    name: Build and Upload to Docker Hub
     runs-on: ubuntu-20.04
     strategy:
-      matrix:
-        ros_distribution: [foxy]
-
+      fail-fast: false
+    env: 
+      PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'luxonis/depthai-ros') && startsWith(github.ref, 'refs/tags/v') }}
     steps:
-      - uses: actions/checkout@v2
-
-      - name: ${{ matrix.ros_distribution }} build
-        uses: ros-tooling/setup-ros@v0.2
-        with:
-          required-ros-distributions: ${{ matrix.ros_distribution }}
+      - name: Checkout
+        uses: actions/checkout@v3
 
-      - name: Installing libusb
-        run: sudo apt-get install libusb-1.0-0-dev
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v2
 
-      - name: Installing DepthAi Core
-        run: sudo wget -qO- https://raw.githubusercontent.com/luxonis/depthai-ros/$GITHUB_SHA/install_dependencies.sh | sudo bash
-
-      - name: Build depthai-bridge ${{ matrix.ros_distribution }}
-        uses: ros-tooling/action-ros-ci@v0.2
-        with:
-          # vcs-repo-file-url: "${{ github.workspace }}/.github/workflows/examples.repos"
-          # package-name: depthai_examples
-          target-ros2-distro: ${{ matrix.ros_distribution }}
-          skip-tests: true
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v2
 
+      - name: Login to DockerHub
+        uses: docker/login-action@v1
+        if: env.PUSH == 'true'
+        with:
+          username: ${{ secrets.DOCKERHUB_USER }}
+          password: ${{ secrets.DOCKERHUB_PASS }}
+      - name: Get Version
+        if: env.PUSH == 'true'
+        id: vars
+        run: echo ::set-output name=short_ref::${GITHUB_REF#refs/*/}
 
+      - name: Build
+        uses: docker/build-push-action@v3
+        if: env.PUSH == 'false'
+        with:
+          build-args: |
+            ROS_DISTRO=${{ env.ROS_DISTRO }}
+            USE_RVIZ=1
+          platforms: |
+            amd64
+            arm64
+          no-cache: true
 
-  # build_:
-  #   runs-on: ubuntu-18.04
-  #   steps:
-  #     - uses: actions/checkout@v2
-  #     - uses: ros-tooling/setup-ros@v0.2
-  #       with:
-  #         required-ros-distributions: melodic
-  #     - run: sudo wget -qO- https://raw.githubusercontent.com/luxonis/depthai-ros/noetic-devel/install_dependencies.sh | sudo bash
-  #     - uses: ros-tooling/action-ros-ci@v0.2
-  #       with:
-  #         # vcs-repo-file-url: "${{ github.workspace }}/.github/workflows/examples.repos"
-  #         # package-name: depthai_examples
-  #         target-ros1-distro: melodic
-  #         skip-tests: true
+      - name: Build and Push
+        uses: docker/build-push-action@v3
+        if: env.PUSH == 'true'
+        with:
+          build-args: |
+            ROS_DISTRO=${{ env.ROS_DISTRO }}
+            USE_RVIZ=1
+          platforms: |
+            amd64
+            arm64
+          push: ${{ env.PUSH }}
+          no-cache: true
+          tags: | 
+            luxonis/depthai-ros:${{ env.ROS_DISTRO }}-${{ steps.vars.outputs.short_ref }}
+            luxonis/depthai-ros:${{ env.ROS_DISTRO }}-latest
diff --git a/.zshrc b/.zshrc
@@ -0,0 +1,8 @@
+export ZSH="$HOME/.oh-my-zsh"
+
+ZSH_THEME="robbyrussell"
+
+plugins=(git)
+
+source $ZSH/oh-my-zsh.sh
+
diff --git a/Dockerfile b/Dockerfile
@@ -0,0 +1,23 @@
+ARG ROS_DISTRO=humble
+FROM ros:${ROS_DISTRO}-ros-base
+ARG USE_RVIZ
+ARG BUILD_SEQUENTIAL=0
+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
+
+ENV DEBIAN_FRONTEND=dialog
+RUN sh -c "$(wget https://raw.github.com/ohmyzsh/ohmyzsh/master/tools/install.sh -O -)"
+
+ENV WS=/ws
+RUN mkdir -p $WS/src
+COPY ./ .$WS/src/depthai_ros
+RUN cd .$WS/ && rosdep install --from-paths src --ignore-src -y
+RUN if [ "$BUILD_SEQUENTIAL" = "1" ] ; then cd .$WS/ && . /opt/ros/${ROS_DISTRO}/setup.sh && colcon build --executor sequential --cmake-args -DCMAKE_BUILD_TYPE=Release ; else cd .$WS/ && . /opt/ros/${ROS_DISTRO}/setup.sh && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release; fi
+RUN if [ "$USE_RVIZ" = "1" ] ; then echo "RVIZ ENABLED" && sudo apt install -y ros-${ROS_DISTRO}-rviz2 ros-${ROS_DISTRO}-rviz-imu-plugin ; else echo "RVIZ NOT ENABLED"; fi
+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/depthai_ros/entrypoint.sh" ]
+CMD ["zsh"]
diff --git a/README.md b/README.md
@@ -1,7 +1,12 @@
-# depthai-ros
-main branch supports ROS Melodic, ROS Noetic, ROS2 Foxy & Galactic. Might also work on kinetic too.
+# Depthai ROS Repository
+Hi and welcome to the main depthai-ros respository!
 
+Supported ROS versions:
+- Noetic
+- Galactic
+- Humble
 
+For development check out respective git branches.
 
 ### Install from ros binaries
 
@@ -13,6 +18,32 @@ sudo udevadm control --reload-rules && sudo udevadm trigger
 Install depthai-ros. (Available for Noetic, foxy, galactic and humble)
 `sudo apt install ros-<distro>-depthai-ros`
 
+## Docker
+You can additionally build and run docker images on your local machine. To do that, add USB rules as in above step, clone the repository and inside it run (it matters on which branch you are on):
+```
+docker build --build-arg USE_RVIZ=1 -t depthai_ros .
+```
+If you find out that you run out of RAM during building, you can also set `BUILD_SEQUENTIAL=1` to build packages one at a time, it should take longer, but use less RAM.
+
+`RUN_RVIZ` arg means rviz will be installed inside docker. If you want to run it you need to also execute following command (you'll have to do it again after restarting your PC):
+```
+xhost +local:docker
+```
+
+Then you can run your image in following way:
+```
+docker run -it -v /dev/:/dev/ --privileged -e DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix depthai_ros
+```
+will run an interactive docker session.
+### Running on ROS1
+```
+docker run -it -v /dev/:/dev/ --privileged -e DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix depthai_ros roslaunch depthai_examples stereo_inertial_node.launch
+```
+Will only start `stereo_inertial_node` launch file (you can try different commands).
+### Running on ROS2
+```
+docker run -it -v /dev/:/dev/ --privileged -e DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix depthai_ros roslaunch depthai_examples stereo_inertial_node.launch.py
+```
 ## Install from source
 
 ### Install dependencies
@@ -42,42 +73,6 @@ The following setup procedure assumes you have cmake version >= 3.10.2 and OpenC
 7. `catkin_make` (For ROS1) `colcon build` (for ROS2)
 8. `source devel/setup.bash` (For ROS1) & `source install/setup.bash` (for ROS2) 
 
-
-<!-- 
-7. `cd ~`
-8. `git clone https://github.com/luxonis/depthai-core.git --branch develop`
-9. `cd ~/depthai-core`
-10. `mkdir build`
-11. `cmake .. -D BUILD_SHARED_LIBS=ON`
-12. `cmake --build . --parallel --config Release --target install`   
-13. `cd ~`
-14. `mkdir -p dai_ws/src`
-15. `cd dai_ws/src`
-16. `git clone https://github.com/luxonis/depthai-ros.git --branch noetic-devel`
-17. `git clone https://github.com/luxonis/depthai-ros-examples.git --branch noetic-devel`
-18. `git clone https://github.com/ros-perception/vision_msgs.git --branch noetic-devel`
-19. `cd ~/dai_ws`
-20. `source /opt/ros/<ros-distro>/setup.zsh`     
-21. `catkin_make_isolated --cmake-args -D depthai_DIR=${depthai-core insall directory}/lib/cmake/depthai` -->
-
-<!-- 1. `cd ~`
-2. `git clone --recursive https://github.com/luxonis/depthai-core.git --branch develop`
-3. `cd ~/depthai-core`
-4. `mkdir build`
-5. `cd build`
-6. `cmake .. -DBUILD_SHARED_LIBS=ON`
-7. `cmake --build . --config Release --target install`   
-8. `cd ~`
-9. `mkdir -p dai_ws/src`
-10. `cd dai_ws/src`
-11. `git clone https://github.com/luxonis/depthai-ros.git --branch noetic-devel`
-12. `git clone https://github.com/luxonis/depthai-ros-examples.git --branch noetic-devel`
-13. `git clone https://github.com/ros-perception/vision_msgs.git --branch noetic-devel`
-14. `cd ~/dai_ws`
-15. `source /opt/ros/<ros-distro>/setup.bash` or `source /opt/ros/<ros-distro>/setup.zsh` if using zsh instead of bash
-16. `catkin_make_isolated --cmake-args -Ddepthai_DIR=~/depthai-core/build/install/lib/cmake/depthai` (Melodic)
-17. `catkin_make_isolated --cmake-args -D depthai_DIR=~/depthai-core/build/install/lib/cmake/depthai` (Noetic) -->
-
 ## Executing an example
 
 ### ROS1
@@ -132,4 +127,4 @@ ros2 launch depthai_examples mobile_publisher.launch.py camera_model:=OAK-D-LITE
 
 ### Users can write Custom converters and plug them in for bridge Publisher. 
 If there a standard Message or usecase for which we have not provided a ros msg or
- converter feel free to create a issue or reach out to us on our discord community. We would be happy to add more. 
+ converter feel free to create a issue or reach out to us on our discord community. We would be happy to add more. 
diff --git a/depthai-ros/CMakeLists.txt b/depthai-ros/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required (VERSION 3.10.2)  # CMake version in Ubuntu 18.04 LTS
+cmake_minimum_required(VERSION 3.10.2)  # CMake version in Ubuntu 18.04 LTS
 
 project(depthai-ros VERSION 2.5.3 LANGUAGES CXX C)