Enable Realsense on JON

.gitignore

@@ -4,4 +4,5 @@ log/
 rosbags/
 resources/
 src/ros2_benchmark/
-CMakeFiles
+CMakeFiles
+rosbags/

docker/Dockerfile.realsense_pkg

@@ -0,0 +1,22 @@
+ARG BASE_IMAGE
+FROM ${BASE_IMAGE}
+
+# Install Realsense libraries
+RUN apt-get update \
+ && apt-get install -y \
+    build-essential \
+    cmake \
+    git-all \
+    software-properties-common \
+ && rm -rf /var/lib/apt/lists/*
+
+RUN apt-get update \
+ && apt-get install -y \
+    ros-${ROS_DISTRO}-librealsense2* \
+    ros-${ROS_DISTRO}-realsense2-* \
+ && rm -rf /var/lib/apt/lists/*
+
+RUN apt-get update \
+ && apt-get install -y \
+    ros-${ROS_DISTRO}-rviz2 \
+ && rm -rf /var/lib/apt/lists/*

docker/Dockerfile.realsense_source

@@ -0,0 +1,19 @@
+ARG BASE_IMAGE
+FROM ${BASE_IMAGE}
+
+ARG LIBREALSENSE_SOURCE_VERSION=v2.55.1
+
+COPY scripts/install-realsense-dependencies.sh /opt/realsense/install-realsense-dependencies.sh
+RUN chmod +x /opt/realsense/install-realsense-dependencies.sh && \
+    /opt/realsense/install-realsense-dependencies.sh;
+
+COPY scripts/build-librealsense.sh /opt/realsense/build-librealsense.sh
+RUN chmod +x /opt/realsense/build-librealsense.sh
+RUN /opt/realsense/build-librealsense.sh -n -v ${LIBREALSENSE_SOURCE_VERSION};
+
+# Copy hotplug script for udev rules/hotplug for RealSense
+RUN mkdir -p /opt/realsense/
+COPY scripts/hotplug-realsense.sh /opt/realsense/hotplug-realsense.sh
+RUN chmod +x /opt/realsense/hotplug-realsense.sh
+COPY udev_rules/99-realsense-libusb-custom.rules /etc/udev/rules.d/99-realsense-libusb-custom.rules
+RUN sudo cp /root/librealsense/config/99-realsense-libusb.rules /etc/udev/rules.d/

docker/Dockerfile.ros2_humble

@@ -0,0 +1,55 @@
+ARG BASE_IMAGE=ros:humble-perception
+FROM ${BASE_IMAGE}
+
+ENV WS_DIR="/ros2_ws"
+WORKDIR ${WS_DIR}
+
+ARG DEBIAN_FRONTEND=noninteractive
+ENV SHELL /bin/bash
+SHELL ["/bin/bash", "-c"]
+
+# Install ROS libraries
+RUN apt-get update \
+ && apt-get install -y \
+    ros-${ROS_DISTRO}-ros-base \
+    ros-${ROS_DISTRO}-angles \
+    ros-${ROS_DISTRO}-apriltag \
+    ros-${ROS_DISTRO}-behaviortree-cpp-v3 \
+    ros-${ROS_DISTRO}-bondcpp \
+    ros-${ROS_DISTRO}-camera-calibration-parsers \
+    ros-${ROS_DISTRO}-camera-info-manager \
+    ros-${ROS_DISTRO}-compressed-image-transport \
+    ros-${ROS_DISTRO}-compressed-depth-image-transport \
+    ros-${ROS_DISTRO}-cv-bridge \
+    ros-${ROS_DISTRO}-demo-nodes-cpp \
+    ros-${ROS_DISTRO}-demo-nodes-py \
+    ros-${ROS_DISTRO}-diagnostic-updater \
+    ros-${ROS_DISTRO}-example-interfaces \
+    ros-${ROS_DISTRO}-foxglove-bridge \
+    ros-${ROS_DISTRO}-image-geometry \
+    ros-${ROS_DISTRO}-image-pipeline \
+    ros-${ROS_DISTRO}-image-transport \
+    ros-${ROS_DISTRO}-image-transport-plugins \
+    ros-${ROS_DISTRO}-launch-xml \
+    ros-${ROS_DISTRO}-launch-yaml \
+    ros-${ROS_DISTRO}-launch-testing \
+    ros-${ROS_DISTRO}-launch-testing-ament-cmake \
+    ros-${ROS_DISTRO}-nav2-bringup \
+    ros-${ROS_DISTRO}-nav2-msgs \
+    ros-${ROS_DISTRO}-nav2-mppi-controller \
+    ros-${ROS_DISTRO}-navigation2 \
+    ros-${ROS_DISTRO}-ompl \
+    ros-${ROS_DISTRO}-resource-retriever \
+    ros-${ROS_DISTRO}-rqt-graph \
+    ros-${ROS_DISTRO}-rqt-reconfigure \
+    ros-${ROS_DISTRO}-rqt-image-view \
+    ros-${ROS_DISTRO}-rviz2 \
+    ros-${ROS_DISTRO}-rviz-common \
+    ros-${ROS_DISTRO}-rviz-default-plugins \
+    ros-${ROS_DISTRO}-sensor-msgs \
+    ros-${ROS_DISTRO}-slam-toolbox \
+    ros-${ROS_DISTRO}-v4l2-camera \
+    ros-${ROS_DISTRO}-vision-opencv \
+    ros-${ROS_DISTRO}-vision-msgs \
+&& rm -rf /var/lib/apt/lists/* \
+&& apt-get clean

docker/Dockerfile.tools

@@ -0,0 +1,14 @@
+ARG BASE_IMAGE
+FROM ${BASE_IMAGE}
+
+# Install helpful tools
+RUN apt-get update && apt-get install -y \
+        vim \
+        nano \
+        dos2unix \
+        ffmpeg \
+        python3-pip \
+&& rm -rf /var/lib/apt/lists/* \
+&& apt-get clean
+
+RUN pip3 install zstandard

docker/Dockerfile.user

@@ -0,0 +1,49 @@
+ARG BASE_IMAGE
+FROM ${BASE_IMAGE}
+
+# Setup non-root admin user
+ARG USERNAME=admin
+ARG USER_UID=1000
+ARG USER_GID=1000
+
+# Install prerequisites
+RUN apt-get update && apt-get install -y \
+        sudo \
+        udev \
+&& rm -rf /var/lib/apt/lists/* \
+&& apt-get clean
+
+# Reuse triton-server user as 'admin' user if exists
+RUN if [ $(getent group triton-server) ]; then \
+        groupmod -o --gid ${USER_GID} -n ${USERNAME} triton-server ; \
+        usermod -l ${USERNAME} -u ${USER_UID} -m -d /home/${USERNAME} triton-server ; \
+        mkdir -p /home/${USERNAME} ; \
+        sudo chown ${USERNAME}:${USERNAME} /home/${USERNAME} ; \
+    fi
+
+# Create the 'admin' user if not already exists
+RUN if [ ! $(getent passwd ${USERNAME}) ]; then \
+        groupadd --gid ${USER_GID} ${USERNAME} ; \
+        useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} ; \
+    fi
+
+# Update 'admin' user
+RUN echo ${USERNAME} ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/${USERNAME} \
+    && chmod 0440 /etc/sudoers.d/${USERNAME} \
+    && adduser ${USERNAME} video && adduser ${USERNAME} plugdev && adduser ${USERNAME} sudo && adduser ${USERNAME} dialout
+
+# Copy scripts
+RUN  mkdir -p /usr/local/bin/scripts
+COPY scripts/*.sh /usr/local/bin/scripts/
+RUN  dos2unix /usr/local/bin/scripts/*.sh
+RUN  chmod +x /usr/local/bin/scripts/*.sh
+
+ENV USERNAME=${USERNAME}
+ENV USER_GID=${USER_GID}
+ENV USER_UID=${USER_UID}
+
+# Switch to non-root user and return to root
+USER ${USERNAME}
+RUN --mount=type=cache,target=/var/cache/apt \
+    rosdep update
+USER root