Split ros wrapper into two docker images.

extras/jetson/README.md

@@ -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:

extras/jetson/docker-compose-2d.yml

@@ -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

extras/ros/README.md

@@ -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:
 

extras/ros/docker-compose-2d.yml

@@ -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

extras/ros/docker-compose-3d.yml

@@ -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

extras/ros/dockerfile_2d

@@ -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

extras/ros/dockerfile_3d

@@ -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"]