crosstyan/RapidPoseTriangulation
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Split ros wrapper into two docker images.

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This commit is contained in:
Daniel
2025-03-21 12:59:05 +01:00
parent e6464f4614
commit 4a64bd40ca
7 changed files with 56 additions and 14 deletions
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2
extras/jetson/README.md
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@ -129,7 +129,7 @@ Tested with a _Jetson AGX Orin Developer Kit_ module.
- Build docker container:
```bash
docker build --progress=plain -f extras/ros/dockerfile -t rapidposetriangulation_ros .
docker build --progress=plain -f extras/ros/dockerfile_2d -t rapidposetriangulation_ros2d .
```
- Run and test:

4
extras/jetson/docker-compose-2d.yml
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@ -1,7 +1,7 @@
services:
test_node:
image: rapidposetriangulation_ros
image: rapidposetriangulation_ros2d
network_mode: "host"
ipc: "host"
runtime: nvidia
@ -18,7 +18,7 @@ services:
command: /bin/bash -i -c 'sleep infinity'
estimator:
image: rapidposetriangulation_ros
image: rapidposetriangulation_ros2d
network_mode: "host"
ipc: "host"
runtime: nvidia

5
extras/ros/README.md
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@ -7,10 +7,11 @@ Run pose estimator with ros topics as inputs and publish detected poses.
- Build container:
```bash
docker build --progress=plain -t rapidposetriangulation_ros -f extras/ros/dockerfile .
docker build --progress=plain -t rapidposetriangulation_ros2d -f extras/ros/dockerfile_2d .
docker build --progress=plain -t rapidposetriangulation_ros3d -f extras/ros/dockerfile_3d .
```
- Update or remove the `ROS_DOMAIN_ID` in `docker-compose.yml` to fit your environment
- Update or remove the `ROS_DOMAIN_ID` in the `docker-compose.yml` files to fit your environment
- Run and test:

8
extras/ros/docker-compose-2d.yml
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@ -1,7 +1,7 @@
services:
test_node:
image: rapidposetriangulation_ros
image: rapidposetriangulation_ros2d
network_mode: "host"
ipc: "host"
runtime: nvidia
@ -18,7 +18,7 @@ services:
command: /bin/bash -i -c 'sleep infinity'
estimator:
image: rapidposetriangulation_ros
image: rapidposetriangulation_ros2d
network_mode: "host"
ipc: "host"
runtime: nvidia
@ -36,7 +36,7 @@ services:
command: /bin/bash -i -c 'export ROS_DOMAIN_ID=18 && ros2 run rpt2d_wrapper_cpp rpt2d_wrapper'
pose_visualizer:
image: rapidposetriangulation_ros
image: rapidposetriangulation_ros2d
network_mode: "host"
ipc: "host"
runtime: nvidia
@ -54,7 +54,7 @@ services:
command: /bin/bash -i -c 'sleep 2 && export ROS_DOMAIN_ID=18 && ros2 run pose2d_visualizer pose2d_visualizer $CAMID'
pose_viewer:
image: rapidposetriangulation_ros
image: rapidposetriangulation_ros2d
network_mode: "host"
ipc: "host"
runtime: nvidia

4
extras/ros/docker-compose-3d.yml
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@ -1,7 +1,7 @@
services:
test_node:
image: rapidposetriangulation_ros
image: rapidposetriangulation_ros3d
network_mode: "host"
ipc: "host"
runtime: nvidia
@ -18,7 +18,7 @@ services:
command: /bin/bash -i -c 'sleep infinity'
triangulator:
image: rapidposetriangulation_ros
image: rapidposetriangulation_ros3d
network_mode: "host"
ipc: "host"
runtime: nvidia

3
extras/ros/dockerfile → extras/ros/dockerfile_2d
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@ -45,17 +45,14 @@ RUN echo "source /project/dev_ws/install/setup.bash" >> ~/.bashrc
# Copy modules
COPY ./extras/include/ /RapidPoseTriangulation/extras/include/
COPY ./scripts/ /RapidPoseTriangulation/scripts/
COPY ./rpt/ /RapidPoseTriangulation/rpt/
COPY ./extras/ros/rpt_msgs/ /RapidPoseTriangulation/extras/ros/rpt_msgs/
COPY ./extras/ros/pose2d_visualizer/ /RapidPoseTriangulation/extras/ros/pose2d_visualizer/
COPY ./extras/ros/rpt2d_wrapper_cpp/ /RapidPoseTriangulation/extras/ros/rpt2d_wrapper_cpp/
COPY ./extras/ros/rpt3d_wrapper_cpp/ /RapidPoseTriangulation/extras/ros/rpt3d_wrapper_cpp/
# Link and build as ros package
RUN ln -s /RapidPoseTriangulation/extras/ros/rpt_msgs/ /project/dev_ws/src/
RUN ln -s /RapidPoseTriangulation/extras/ros/pose2d_visualizer/ /project/dev_ws/src/
RUN ln -s /RapidPoseTriangulation/extras/ros/rpt2d_wrapper_cpp/ /project/dev_ws/src/
RUN ln -s /RapidPoseTriangulation/extras/ros/rpt3d_wrapper_cpp/ /project/dev_ws/src/
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

44
extras/ros/dockerfile_3d Normal file
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@ -0,0 +1,44 @@
FROM ros:humble-ros-base-jammy
ARG DEBIAN_FRONTEND=noninteractive
# Set the working directory to /project
WORKDIR /project/
# Update and install basic tools
RUN apt-get update && apt-get upgrade -y
RUN apt-get update && apt-get install -y --no-install-recommends git nano wget
RUN apt-get update && apt-get install -y --no-install-recommends python3-pip
RUN pip3 install --upgrade pip
# Fix ros package building error
RUN pip3 install --no-cache-dir "setuptools<=58.2.0"
# Add ROS2 sourcing by default
RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
# 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 ./extras/include/ /RapidPoseTriangulation/extras/include/
COPY ./rpt/ /RapidPoseTriangulation/rpt/
COPY ./extras/ros/rpt_msgs/ /RapidPoseTriangulation/extras/ros/rpt_msgs/
COPY ./extras/ros/rpt3d_wrapper_cpp/ /RapidPoseTriangulation/extras/ros/rpt3d_wrapper_cpp/
# Link and build as ros package
RUN ln -s /RapidPoseTriangulation/extras/ros/rpt_msgs/ /project/dev_ws/src/
RUN ln -s /RapidPoseTriangulation/extras/ros/rpt3d_wrapper_cpp/ /project/dev_ws/src/
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"]