2b-t / realsense-ros2-docker Goto Github PK

root@0c938c5b80bd:/ros2_ws# rs-enumerate-devices 
 02/01 17:55:11,308 ERROR [548659127392] (librealsense-exception.h:52) /dev/video10 is no video capture device Last Error: Invalid argument
 02/01 17:55:11,308 ERROR [548659127392] (sensor.cpp:661) acquire_power failed: /dev/video10 is no video capture device Last Error: Invalid argument
Could not create device - /dev/video10 is no video capture device Last Error: Invalid argument . Check SDK logs for details
 02/01 17:55:11,408 ERROR [548659127392] (librealsense-exception.h:52) /dev/video12 is no video capture device Last Error: Invalid argument
 02/01 17:55:11,409 ERROR [548659127392] (sensor.cpp:661) acquire_power failed: /dev/video12 is no video capture device Last Error: Invalid argument
Could not create device - /dev/video12 is no video capture device Last Error: Invalid argument . Check SDK logs for details
 02/01 17:55:11,509 ERROR [548659127392] (librealsense-exception.h:52) /dev/video18 is no video capture device Last Error: Invalid argument
 02/01 17:55:11,509 ERROR [548659127392] (sensor.cpp:661) acquire_power failed: /dev/video18 is no video capture device Last Error: Invalid argument
Could not create device - /dev/video18 is no video capture device Last Error: Invalid argument . Check SDK logs for details
Segmentation fault (core dumped)

$ lsusb 
Bus 002 Device 002: ID 8086:0b64 Intel Corp. Intel(R) RealSense(TM) 515

RUN apt-get install kmod && \
    cd ~ && \
    wget https://github.com/IntelRealSense/librealsense/archive/refs/tags/v2.51.1.zip && \
    unzip v2.51.1.zip && \
    cd ~/librealsense-2.51.1 && \
    ./scripts/patch-realsense-ubuntu-L4T.sh  && \
    apt-get install git libssl-dev libusb-1.0-0-dev libudev-dev pkg-config libgtk-3-dev -y && \
    ./scripts/setup_udev_rules.sh  && \
    mkdir build && cd build  && \
    cmake .. -DCMAKE_C_FLAGS_RELEASE="${CMAKE_C_FLAGS_RELEASE} -s" -DCMAKE_CXX_FLAGS_RELEASE="${CMAKE_CXX_FLAGS_RELEASE} -s" -DCMAKE_INSTALL_PREFIX=/opt/librealsense  -DBUILD_PYTHON_BINDINGS:bool=true  -DBUILD_EXAMPLES=true -DCMAKE_BUILD_TYPE=release -DFORCE_RSUSB_BACKEND=false -DBUILD_WITH_CUDA=true && make -j$(($(nproc)-1)) && sudo make install && \
    
    cd ~ && \
    wget https://github.com/IntelRealSense/realsense-ros/archive/refs/tags/4.51.1.zip && \
    apt-get install python3-rosdep -y && \
    unzip 4.51.1.zip && \
    cd realsense-ros-4.51.1 && \
    rm /etc/ros/rosdep/sources.list.d/20-default.list && \
    rosdep init && rosdep update && rosdep install -i --from-path src --rosdistro $ROS_DISTRO --skip-keys=librealsense2 -y && \
    colcon build --symlink-install && \
    . install/local_setup.zsh

docker run --name jetson-tmp5 -d -it --runtime nvidia -e "ACCEPT_EULA=Y" --ipc=host --privileged --network=host \
-v $(pwd)/..:/workspace:rw \
-v /tmp/.X11-unix:/tmp/.X11-unix \
-e DISPLAY=$DISPLAY \
-v /dev:/dev \
-v /usr/src:/usr/src \
-v /etc/nv_tegra_release:/etc/nv_tegra_release \
-v /etc/udev/rules.d:/etc/udev/rules.d \
-v /lib/modules/4.9.140-tegra:/lib/modules/4.9.140-tegra \
--device-cgroup-rule='c 81:* rmw' \
--device-cgroup-rule='c 189:* rmw' \
kenloumixx/jetson-rs

sudo apt update && sudo apt -y upgrade
sudo apt install curl python3-pip libffi-dev python-openssl libssl-dev zlib1g-dev gcc g++ make -y
sudo python3 -m pip install --upgrade pip
sudo python3 -m pip install setuptools-rust
sudo python3 -m pip install docker-compose

xhost +local:root
docker compose -f docker-compose-gui-nvidia.yml build
docker compose -f docker-compose-gui-nvidia.yml up

/usr/local/lib/python3.6/dist-packages/paramiko/transport.py:32: CryptographyDeprecationWarning: Python 3.6 is no longer supported by the Python core team. Therefore, support for it is deprecated in cryptography. The next release of cryptography (40.0) will be the last to support Python 3.6.
  from cryptography.hazmat.backends import default_backend
Building realsense_ros2
Sending build context to Docker daemon  139.8kB
Step 1/9 : FROM ros:humble-perception
 ---> bad31d6015e0
Step 2/9 : ENV WS_DIR="/ros2_ws"
 ---> Using cache
 ---> b351c85dd87d
Step 3/9 : WORKDIR ${WS_DIR}
 ---> Using cache
 ---> 5c526ba274d9
Step 4/9 : SHELL ["/bin/bash", "-c"]
 ---> Using cache
 ---> 6fedfec2692e
Step 5/9 : ARG DEBIAN_FRONTEND=noninteractive
 ---> Using cache
 ---> 4cb30bb908bd
Step 6/9 : RUN apt-get update -y  && apt-get install -y     build-essential     cmake     git-all     software-properties-common
 ---> Using cache
 ---> d4f66f96e17b
Step 7/9 : RUN apt-get update -y  && 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 "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u  && apt-get install -y     librealsense2-dbg     librealsense2-dev     librealsense2-dkms     librealsense2-utils
 ---> Running in 4e125806f392
Hit:1 http://packages.ros.org/ros2/ubuntu jammy InRelease
Hit:2 http://ports.ubuntu.com/ubuntu-ports jammy InRelease
Hit:3 http://ports.ubuntu.com/ubuntu-ports jammy-updates InRelease
Hit:4 http://ports.ubuntu.com/ubuntu-ports jammy-backports InRelease
Hit:5 http://ports.ubuntu.com/ubuntu-ports jammy-security InRelease
Reading package lists...
W: http://packages.ros.org/ros2/ubuntu/dists/jammy/InRelease: Key is stored in legacy trusted.gpg keyring (/etc/apt/trusted.gpg), see the DEPRECATION section in apt-key(8) for details.
Warning: apt-key is deprecated. Manage keyring files in trusted.gpg.d instead (see apt-key(8)).
Executing: /tmp/apt-key-gpghome.pvaIdQjDQ2/gpg.1.sh --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
gpg: key C8B3A55A6F3EFCDE: public key ""CN = Intel(R) Intel(R) Realsense", O=Intel Corporation" imported
gpg: Total number processed: 1
gpg:               imported: 1
Hit:1 http://packages.ros.org/ros2/ubuntu jammy InRelease
Hit:2 http://ports.ubuntu.com/ubuntu-ports jammy InRelease
Hit:3 http://ports.ubuntu.com/ubuntu-ports jammy-updates InRelease
Hit:4 http://ports.ubuntu.com/ubuntu-ports jammy-backports InRelease
Hit:5 http://ports.ubuntu.com/ubuntu-ports jammy-security InRelease
Get:6 https://librealsense.intel.com/Debian/apt-repo jammy InRelease [2400 B]
Fetched 2400 B in 2s (1378 B/s)
Reading package lists...
W: http://packages.ros.org/ros2/ubuntu/dists/jammy/InRelease: Key is stored in legacy trusted.gpg keyring (/etc/apt/trusted.gpg), see the DEPRECATION section in apt-key(8) for details.
W: https://librealsense.intel.com/Debian/apt-repo/dists/jammy/InRelease: Key is stored in legacy trusted.gpg keyring (/etc/apt/trusted.gpg), see the DEPRECATION section in apt-key(8) for details.
Repository: 'deb https://librealsense.intel.com/Debian/apt-repo jammy main'
Description:
Archive for codename: jammy components: main
More info: https://librealsense.intel.com/Debian/apt-repo
Adding repository.
Adding deb entry to /etc/apt/sources.list.d/archive_uri-https_librealsense_intel_com_debian_apt-repo-jammy.list
Adding disabled deb-src entry to /etc/apt/sources.list.d/archive_uri-https_librealsense_intel_com_debian_apt-repo-jammy.list
Reading package lists...
Building dependency tree...
Reading state information...
E: Unable to locate package librealsense2-dbg
E: Unable to locate package librealsense2-dev
E: Unable to locate package librealsense2-dkms
E: Unable to locate package librealsense2-utils
The command '/bin/bash -c apt-get update -y  && 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 "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u  && apt-get install -y     librealsense2-dbg     librealsense2-dev     librealsense2-dkms     librealsense2-utils' returned a non-zero code: 100
ERROR: Service 'realsense_ros2' failed to build : Build failed