Added Dockerfile, docker compose and entrypoint files

dependencies.repos

@@ -2,7 +2,7 @@ repositories:
   industrial_calibration:
     type: git
     url: https://github.com/ros-industrial/industrial_calibration.git
-    version: 1.0.0
+    version: 1.0.3
   ros_industrial_cmake_boilerplate:
     type: git
     url: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git

docker/3d_data_collection.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+source /opt/industrial_calibration_ros2/install/setup.bash
+ros2 launch industrial_calibration_ros 3d_data_collection.launch.xml

docker/Dockerfile

@@ -0,0 +1,41 @@
+ARG TAG=humble-desktop
+FROM osrf/ros:${TAG}
+
+ARG ROS_DISTRO
+
+SHELL ["/bin/bash", "-c"]
+
+ENV DEBIAN_FRONTEND noninteractive
+
+USER root
+
+# Install
+RUN apt update \
+  && apt upgrade -y \
+  && apt install -y cmake curl git python3 python3-pip \
+  && python3 -m pip install --user open3d numpy==1.24.4
+
+# Bind mount the source directory so as not to unnecessarily copy source code into the docker image
+ARG WORKSPACE_DIR=/opt/industrial_calibration_ros2
+RUN --mount=type=bind,target=${WORKSPACE_DIR}/src/industrial_calibration_ros2 \
+  apt update -y -qq \
+  && vcs import ${WORKSPACE_DIR}/src < ${WORKSPACE_DIR}/src/industrial_calibration_ros2/dependencies.repos --shallow \
+  && rosdep install \
+    --from-paths ${WORKSPACE_DIR}/src \
+    -iry
+
+# Build the repository
+# Bind mount the source directory so as not to unnecessarily copy source code into the docker image
+RUN --mount=type=bind,target=${WORKSPACE_DIR}/src/industrial_calibration_ros2 \
+  source /opt/ros/${ROS_DISTRO}/setup.bash \
+  && cd ${WORKSPACE_DIR} \
+  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release \
+  && rm -rf build log
+
+# Set the entrypoints to source the workspace and launch executables
+COPY docker/data_collection.sh /data_collection.sh
+COPY docker/3d_data_collection.sh /3d_data_collection.sh
+COPY docker/extrinsic_calibration_gui.sh /extrinsic_calibration_gui.sh
+COPY docker/intrinsic_calibration_gui.sh /intrinsic_calibration_gui.sh
+
+ENTRYPOINT ["./data_collection.sh"]

docker/data_collection.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+source /opt/industrial_calibration_ros2/install/setup.bash
+ros2 launch industrial_calibration_ros data_collection.launch.xml

docker/docker-compose.yml

@@ -0,0 +1,38 @@
+services:
+  industrial_calibration_ros2:
+    build:
+      context: ..
+      dockerfile: docker/Dockerfile
+      args:
+        TAG: humble-desktop
+        ROS_DISTRO: humble
+    environment:
+      DISPLAY: $DISPLAY
+      XAUTHORITY: $XAUTHORITY
+      # NVIDIA_DRIVER_CAPABILITIES: all
+      ROS_LOG_DIR: /tmp
+    container_name: industrial_calibration_ros2
+    image: ghcr.io/ros-industrial/industrial_calibration_ros2:humble
+    stdin_open: true
+    tty: true
+    network_mode: host
+    privileged: false
+    user: ${CURRENT_UID}  # CURRENT_UID=$(id -u):$(id -g)
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - /etc/hosts:/etc/hosts
+      - /etc/passwd:/etc/passwd:ro
+      - /etc/group:/etc/group:ro
+
+    # entrypoint: './data_collection.sh'
+    # entrypoint: './3d_data_collection.sh'
+    # entrypoint: ./extrinsic_calibration_gui.sh
+    # entrypoint: ./intrinsic_calibration_gui.sh
+
+    # deploy:
+    #   resources:
+    #     reservations:
+    #       devices:
+    #         - driver: nvidia
+    #           count: 1
+    #           capabilities: [gpu]

docker/extrinsic_calibration_gui.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+source /opt/industrial_calibration_ros2/install/setup.bash
+./opt/industrial_calibration_ros2/install/industrial_calibration/bin/industrial_calibration_extrinsic_hand_eye_calibration_app

docker/intrinsic_calibration_gui.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+source /opt/industrial_calibration_ros2/install/setup.bash
+./opt/industrial_calibration_ros2/install/industrial_calibration/bin/industrial_calibration_camera_intrinsic_calibration_app