From 1ca755f76373b48c3e5b0f4570f3b9f3d3d39999 Mon Sep 17 00:00:00 2001
From: Isse <isse@agx1.de>
Date: Mon, 20 Jan 2025 16:40:28 +0100
Subject: [PATCH] Building ros for jetson.

---
 extras/jetson/README.md              | 17 ++++++++
 extras/jetson/dockerfile_ros         | 60 ++++++++++++++++++++++++++++
 ros/rpt2D_wrapper_cpp/CMakeLists.txt |  6 ++-
 3 files changed, 82 insertions(+), 1 deletion(-)
 create mode 100644 extras/jetson/dockerfile_ros

diff --git a/extras/jetson/README.md b/extras/jetson/README.md
index 0fd6781..74a43a4 100644
--- a/extras/jetson/README.md
+++ b/extras/jetson/README.md
@@ -93,3 +93,20 @@ Tested with a _Jetson AGX Orin Developer Kit_ module.
   ```bash
   python3 /RapidPoseTriangulation/scripts/test_triangulate.py
   ```
+
+- Evaluate datasets:
+
+  ```bash
+  python3 /RapidPoseTriangulation/scripts/test_skelda_dataset.py
+  ```
+
+<br>
+
+## ROS interface
+
+- Build docker container:
+
+  ```bash
+  docker build --progress=plain -f extras/jetson/dockerfile_ros -t rapidposetriangulation_ros .
+  ./run_container.sh
+  ```
diff --git a/extras/jetson/dockerfile_ros b/extras/jetson/dockerfile_ros
new file mode 100644
index 0000000..fa61044
--- /dev/null
+++ b/extras/jetson/dockerfile_ros
@@ -0,0 +1,60 @@
+FROM rapidposetriangulation
+WORKDIR /
+
+ARG DEBIAN_FRONTEND=noninteractive
+ENV LANG=C.UTF-8
+ENV LC_ALL=C.UTF-8
+WORKDIR /
+
+# Install ROS2
+# https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html
+RUN apt-get update && apt-get install -y --no-install-recommends locales
+RUN locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+RUN apt-get update && apt-get install -y --no-install-recommends software-properties-common
+RUN add-apt-repository universe
+RUN apt-get update && apt-get install -y --no-install-recommends curl
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" > /etc/apt/sources.list.d/ros2.list
+RUN apt-get update && apt-get install -y --no-install-recommends ros-humble-ros-base python3-argcomplete
+RUN apt-get update && apt-get install -y --no-install-recommends ros-dev-tools
+RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
+
+# Create ROS2 workspace for basic packages
+RUN mkdir -p /project/base/src/
+RUN cd /project/base/; colcon build
+RUN echo "source /project/base/install/setup.bash" >> ~/.bashrc
+
+# Fix ros package building error
+RUN pip3 install --no-cache-dir "setuptools<=58.2.0"
+
+# Install opencv and cv_bridge
+RUN apt-get update && apt-get install -y --no-install-recommends libboost-dev
+RUN apt-get update && apt-get install -y --no-install-recommends libboost-python-dev
+RUN apt-get update && apt-get install -y --no-install-recommends libopencv-dev
+RUN cd /project/base/src/; git clone --branch humble --depth=1 https://github.com/ros-perception/vision_opencv.git
+RUN /bin/bash -i -c 'cd /project/base/; colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'
+
+# Create ROS2 workspace for project packages
+RUN mkdir -p /project/dev_ws/src/
+RUN cd /project/dev_ws/; colcon build
+RUN echo "source /project/dev_ws/install/setup.bash" >> ~/.bashrc
+
+# Copy modules
+COPY ./ros/rpt2D_wrapper_py /RapidPoseTriangulation/ros/rpt2D_wrapper_py/
+COPY ./ros/rpt2D_wrapper_cpp /RapidPoseTriangulation/ros/rpt2D_wrapper_cpp/
+
+# Link and build as ros package
+RUN ln -s  /RapidPoseTriangulation/ros/rpt2D_wrapper_py/ /project/dev_ws/src/rpt2D_wrapper_py
+RUN ln -s  /RapidPoseTriangulation/ros/rpt2D_wrapper_cpp/ /project/dev_ws/src/rpt2D_wrapper_cpp
+RUN /bin/bash -i -c 'cd /project/dev_ws/; colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'
+
+# Update ros packages -> autocompletion and check
+RUN /bin/bash -i -c 'ros2 pkg list'
+
+# Clear cache to save space, only has an effect if image is squashed
+RUN apt-get autoremove -y \
+  && apt-get clean \
+  && rm -rf /var/lib/apt/lists/*
+
+WORKDIR /RapidPoseTriangulation/
+CMD ["/bin/bash"]
diff --git a/ros/rpt2D_wrapper_cpp/CMakeLists.txt b/ros/rpt2D_wrapper_cpp/CMakeLists.txt
index aa93999..1c8e14e 100644
--- a/ros/rpt2D_wrapper_cpp/CMakeLists.txt
+++ b/ros/rpt2D_wrapper_cpp/CMakeLists.txt
@@ -23,11 +23,15 @@ find_package(sensor_msgs REQUIRED)
 find_package(cv_bridge REQUIRED)
 find_package(OpenCV REQUIRED)
 
-### 3) ONNX Runtime 
+### 3) ONNX Runtime
+# for desktop
 include_directories(/onnxruntime/include
                     /onnxruntime/include/onnxruntime/core/session
                     /onnxruntime/include/onnxruntime/core/providers/tensorrt)
 link_directories(/onnxruntime/build/Linux/Release)
+# for jetson
+include_directories(/usr/local/include/onnxruntime/)
+link_directories(/usr/local/lib/)
 
 add_executable(rpt2D_wrapper src/rpt2D_wrapper.cpp)
 ament_target_dependencies(rpt2D_wrapper rclcpp std_msgs sensor_msgs cv_bridge)