Dockerfile.realsense

# Copyright (C) 2022, Raffaello Bonghi <raffaello@rnext.it>
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# Docker file for aarch64 based Jetson device
ARG TAG_IMAGE
FROM nanosaur/perception:${TAG_IMAGE}

################ INSTALL REALSENSE #######################

# Install Realsense
RUN apt-get update && \
    apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || \
    apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE && \
    add-apt-repository -y "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u && \
    apt-get install -y rsync librealsense2-utils librealsense2-dev && \
    rm -rf /var/lib/apt/lists/*

# Install ros2 realsense pkg
RUN mkdir -p /opt/ros/foxy/src && \
    cd /opt/ros/foxy/src && \
    git clone --depth 1 --branch `git ls-remote --tags https://github.com/IntelRealSense/realsense-ros.git | grep -Po "(?<=tags/)3.\d+\.\d+" | sort -V | tail -1` https://github.com/IntelRealSense/realsense-ros.git && \
    . /opt/ros/$ROS_DISTRO/install/setup.sh && \
    cd /opt/ros/foxy && \
    colcon build --merge-install --packages-up-to realsense2_camera realsense2_description && \
    rm -Rf src logs build

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

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