Merge branch 'master' into add_new_msg_srv

Myzhar · Myzhar · commit 4223edb1de0a · 2025-04-24T15:08:13.000+02:00
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -1,6 +1,14 @@
 LATEST CHANGES
 ==============
 
+2025-04-23
+----------
+- Clean shutdown of ZED components using `pre_shutdown_callback`
+
+2025-04-22
+----------
+- Add backward compatibility with SDK v4.2
+
 2025-04-18
 ----------
 - Add parameter 'debug.sdk_verbose_log_file' to Stereo and Mono components to set the path of the SDK verbose log file
diff --git a/docker/Dockerfile.desktop-humble b/docker/Dockerfile.desktop-humble
@@ -5,7 +5,7 @@ ARG CUDA_MINOR=6
 ARG CUDA_PATCH=3
 ARG ZED_SDK_MAJOR=4
 ARG ZED_SDK_MINOR=2
-ARG ZED_SDK_PATCH=3
+ARG ZED_SDK_PATCH=5
 
 ARG IMAGE_NAME=nvcr.io/nvidia/cuda:${CUDA_MAJOR}.${CUDA_MINOR}.${CUDA_PATCH}-devel-ubuntu${UBUNTU_MAJOR}.${UBUNTU_MINOR}
 
@@ -19,6 +19,8 @@ ARG CUDA_PATCH=3
 ARG ZED_SDK_MAJOR=4
 ARG ZED_SDK_MINOR=2
 ARG ZED_SDK_PATCH=3
+# Optional: Override ZED SDK URL
+ARG CUSTOM_ZED_SDK_URL=""
 
 ARG ROS2_DIST=humble       # ROS2 distribution
 
@@ -31,19 +33,11 @@ ENV NVIDIA_DRIVER_CAPABILITIES \
 RUN apt-get update || true && apt-get install -y --no-install-recommends apt-utils dialog curl && \
   rm -rf /var/lib/apt/lists/*
 
-# Create the ZED SDK link
-ARG CUDA_MINOR_DW=1
-RUN if [ "$CUDA_MAJOR" = "12" ] && [ "$CUDA_MINOR" != "1" ]; then \
-      CUDA_MINOR_DW=1; \
-    fi
-RUN if [ "$CUDA_MAJOR" = "11" ] && [ "$CUDA_MINOR" != "8" ]; then \
-      CUDA_MINOR_DW=8; \
-    fi
-ENV ZED_SDK_URL="https://stereolabs.sfo2.cdn.digitaloceanspaces.com/zedsdk/${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}/ZED_SDK_Ubuntu${UBUNTU_MAJOR}_cuda${CUDA_MAJOR}.${CUDA_MINOR_DW}_v${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}.${ZED_SDK_PATCH}.zstd.run"
+ENV ZED_SDK_URL=${CUSTOM_ZED_SDK_URL:-"https://download.stereolabs.com/zedsdk/${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}.${ZED_SDK_PATCH}/cu${CUDA_MAJOR}/ubuntu${UBUNTU_MAJOR}"}
 
 # Check that this SDK exists
 RUN echo "SDK link: $ZED_SDK_URL"
-RUN if [ "$(curl -I "${ZED_SDK_URL}" -o /dev/null -s -w '%{http_code}\n' | head -n 1)" = "200" ]; then \
+RUN if [ "$(curl -L -I "${ZED_SDK_URL}" -o /dev/null -s -w '%{http_code}\n' | head -n 1)" = "200" ]; then \
         echo "The URL points to something."; \
     else \
         echo "The URL does not point to a .run file or the file does not exist."; \
diff --git a/docker/Dockerfile.l4t-humble b/docker/Dockerfile.l4t-humble
@@ -1,5 +1,6 @@
+# Define the L4T_VERSION argument
 ARG L4T_VERSION=l4t-r36.3.0
-ARG IMAGE_NAME=dustynv/ros:humble-ros-base-${L4T_VERSION}
+ARG IMAGE_NAME=dustynv/ros:humble-ros-base-l4t-r36.3.0
 
 FROM ${IMAGE_NAME}
 
@@ -8,6 +9,8 @@ ARG ZED_SDK_MINOR=2
 ARG ZED_SDK_PATCH=3
 ARG L4T_MAJOR=36
 ARG L4T_MINOR=3
+# Optional: Override ZED SDK URL
+ARG CUSTOM_ZED_SDK_URL=""
 
 # ROS2 distribution
 ARG ROS2_DIST=humble
@@ -30,10 +33,10 @@ ARG RMW_CYCLONEDDS_VERSION=1.3.4
 ENV DEBIAN_FRONTEND=noninteractive
 
 # ZED SDK link
-ENV ZED_SDK_URL="https://stereolabs.sfo2.cdn.digitaloceanspaces.com/zedsdk/${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}/ZED_SDK_Tegra_L4T${L4T_MAJOR}.${L4T_MINOR}_v${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}.${ZED_SDK_PATCH}.zstd.run"
+ENV ZED_SDK_URL=${CUSTOM_ZED_SDK_URL:-"https://download.stereolabs.com/zedsdk/${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}.${ZED_SDK_PATCH}/l4t${L4T_MAJOR}.${L4T_MINOR}/jetsons"}
 
 # Check that this SDK exists
-RUN if [ "$(curl -I "${ZED_SDK_URL}" -o /dev/null -s -w '%{http_code}\n' | head -n 1)" = "200" ]; then \
+RUN if [ "$(curl -L -I "${ZED_SDK_URL}" -o /dev/null -s -w '%{http_code}\n' | head -n 1)" = "200" ]; then \
         echo "The URL points to something."; \
     else \
         echo "The URL does not point to a .run file or the file does not exist."; \
diff --git a/docker/README.md b/docker/README.md
@@ -54,13 +54,18 @@ We provide a script to build your image with the right L4T / ZED SDK version.
 Examples:
 
 ```bash
-# Jetson with JP6.0 and ZED SDK v4.2.3
-./jetson_build_dockerfile_from_sdk_and_l4T_version.sh l4t-r36.3.0 zedsdk-4.2.3
+# Jetson with JP6.0 and ZED SDK v4.2.5
+./jetson_build_dockerfile_from_sdk_and_l4T_version.sh l4t-r36.3.0 zedsdk-4.2.5
 ```
 
 ```bash
-# Desktop on Ubuntu 22.04m CUDA 12.6.3 and ZED SDK v4.2.3
-./desktop_build_dockerfile_from_sdk_ubuntu_and_cuda_version.sh ubuntu-22.04 cuda-12.6.3 zedsdk-4.2.3
+# Jetson with JP6.2 and ZED SDK v5.0.0
+./jetson_build_dockerfile_from_sdk_and_l4T_version.sh l4t-r36.4.0 zedsdk-5.0.0
+```
+
+```bash
+# Desktop on Ubuntu 22.04m CUDA 12.6.3 and ZED SDK v4.2.5
+./desktop_build_dockerfile_from_sdk_ubuntu_and_cuda_version.sh ubuntu-22.04 cuda-12.6.3 zedsdk-4.2.5
 ```
 
 > :warning: Some configurations will not work. For example, if a specific ZED SDK does not exist for a given Ubuntu/CUDA/L4T version, or if the given ROS 2 wrapper is not compatible with the selected Ubuntu version.
diff --git a/docker/desktop_build_dockerfile_from_sdk_ubuntu_and_cuda_version.sh b/docker/desktop_build_dockerfile_from_sdk_ubuntu_and_cuda_version.sh
@@ -17,6 +17,10 @@ fi
 ubuntu_version=$1
 ubuntu_version_number="${ubuntu_version#ubuntu-}"
 
+# Split the string and assign to variables
+IFS='.' read -r ubuntu_major ubuntu_minor <<< "$ubuntu_version_number"
+echo "Ubuntu $ubuntu_major.$ubuntu_minor detected."
+
 # CUDA version
 # Verify the format (l4t-r digits.digits.digits)
 if ! [[ $2 =~ ^cuda-[0-9]+\.[0-9]\.[0-9]$ ]]; then
@@ -27,48 +31,63 @@ fi
 cuda_version=$2
 cuda_version_number="${cuda_version#cuda-}"
 
+# Split the string and assign to variables
+IFS='.' read -r cuda_major cuda_minor cuda_patch <<< "$cuda_version_number"
+echo "CUDA $cuda_major.$cuda_minor.$cuda_patch detected."
 
-# Verify the ZED SDK format (digits.digits.digits)
-if ! [[ $3 =~ ^zedsdk-[0-9]\.[0-9]\.[0-9]$ ]]; then
-    echo "Invalid ZED SDK version format."
-    exit 1
-fi
 
 ZED_SDK_version=$3
-# Remove the prefix 'zedsdk-'
-zed_sdk_version_number="${ZED_SDK_version#zedsdk-}"
 
 # copy the wrapper content
 rm -r ./tmp_sources
 mkdir -p ./tmp_sources
 cp -r ../zed* ./tmp_sources
 
-# Split the string and assign to variables
-IFS='.' read -r cuda_major cuda_minor cuda_patch <<< "$cuda_version_number"
-echo "CUDA $cuda_major.$cuda_minor.$cuda_patch detected."
+# Check if the third arg is a custom path
+CUSTOM_ZED_SDK_URL=$3
+# Use curl to check if the URL is valid (returns HTTP 200)
+if [ "$(curl -L -I "${CUSTOM_ZED_SDK_URL}" -o /dev/null -s -w '%{http_code}\n' | head -n 1)" = "200" ]; then
+    echo "${ZED_SDK_version} detected as a valid custom installer URL"
 
-###########
+    echo "Building dockerfile for $1, CUDA $2 and a custom ZED SDK"
 
-# Split the string and assign to variables
-IFS='.' read -r ubuntu_major ubuntu_minor <<< "$ubuntu_version_number"
-echo "Ubuntu $ubuntu_major.$ubuntu_minor detected."
-###########
+    docker build -t zed_ros2_desktop_u${ubuntu_major}.${ubuntu_minor}_sdk_custom_cuda_${cuda_major}.${cuda_minor}.${cuda_patch} \
+    --build-arg CUSTOM_ZED_SDK_URL=$CUSTOM_ZED_SDK_URL \
+    --build-arg UBUNTU_MAJOR=$ubuntu_major \
+    --build-arg UBUNTU_MINOR=$ubuntu_minor \
+    --build-arg CUDA_MAJOR=$cuda_major \
+    --build-arg CUDA_MINOR=$cuda_minor \
+    --build-arg CUDA_PATCH=$cuda_patch \
+    -f ./Dockerfile.desktop-humble .
+else
+    # Verify the ZED SDK format (digits.digits.digits)
+    if ! [[ $3 =~ ^zedsdk-[0-9]\.[0-9]\.[0-9]$ ]]; then
+        echo "Invalid ZED SDK version format."
+        exit 1
+    fi
 
-# Split the string and assign to variables
-IFS='.' read -r sdk_major sdk_minor sdk_patch <<< "$zed_sdk_version_number"
-echo "ZED SDK $major.$minor.$patch detected."
-
-echo "Building dockerfile for $1, CUDA $2 and ZED SDK $3"
-docker build -t zed_ros2_desktop_u${ubuntu_major}.${ubuntu_minor}_sdk_${sdk_major}.${sdk_minor}.${sdk_patch}_cuda_${cuda_major}.${cuda_minor}.${cuda_patch} \
---build-arg ZED_SDK_MAJOR=$sdk_major \
---build-arg ZED_SDK_MINOR=$sdk_minor \
---build-arg ZED_SDK_PATCH=$sdk_patch \
---build-arg UBUNTU_MAJOR=$ubuntu_major \
---build-arg UBUNTU_MINOR=$ubuntu_minor \
---build-arg CUDA_MAJOR=$cuda_major \
---build-arg CUDA_MINOR=$cuda_minor \
---build-arg CUDA_PATCH=$cuda_patch \
--f ./Dockerfile.desktop-humble .
+    # Remove the prefix 'zedsdk-'
+    zed_sdk_version_number="${ZED_SDK_version#zedsdk-}"
+
+    # Split the string and assign to variables
+    IFS='.' read -r sdk_major sdk_minor sdk_patch <<< "$zed_sdk_version_number"
+    echo "ZED SDK $major.$minor.$patch detected."
+
+    echo "Building dockerfile for $1, CUDA $2 and ZED SDK $3"
+
+    docker build -t zed_ros2_desktop_u${ubuntu_major}.${ubuntu_minor}_sdk_${sdk_major}.${sdk_minor}.${sdk_patch}_cuda_${cuda_major}.${cuda_minor}.${cuda_patch} \
+    --build-arg ZED_SDK_MAJOR=$sdk_major \
+    --build-arg ZED_SDK_MINOR=$sdk_minor \
+    --build-arg ZED_SDK_PATCH=$sdk_patch \
+    --build-arg UBUNTU_MAJOR=$ubuntu_major \
+    --build-arg UBUNTU_MINOR=$ubuntu_minor \
+    --build-arg CUDA_MAJOR=$cuda_major \
+    --build-arg CUDA_MINOR=$cuda_minor \
+    --build-arg CUDA_PATCH=$cuda_patch \
+    -f ./Dockerfile.desktop-humble .
+fi
+
+###########
 
 # Remove the temporary folder
 rm -r ./tmp_sources
diff --git a/docker/jetson_build_dockerfile_from_sdk_and_l4T_version.sh b/docker/jetson_build_dockerfile_from_sdk_and_l4T_version.sh
@@ -3,7 +3,7 @@ cd $(dirname $0)
 
 if [ "$#" -lt 2 ]; then
     echo "Please enter valid L4T version and ZED SDK version has parameters. For example:"
-    echo "./jetson_build_dockerfile_from_sdk_and_l4T_version.sh l4t-r36.3.0 zedsdk-4.2.3"
+    echo "./jetson_build_dockerfile_from_sdk_and_l4T_version.sh l4t-r36.3.0 zedsdk-4.2.5"
     exit 1
 fi
 
@@ -18,15 +18,9 @@ L4T_version=$1
 # Remove the prefix 'l4t-r'
 l4t_version_number="${L4T_version#l4t-r}"
 
-# Verify the ZED SDK format (digits.digits.digits)
-if ! [[ $2 =~ ^zedsdk-[0-9]+\.[0-9]+\.[0-9]+$ ]]; then
-    echo "Invalid ZED SDK version format."
-    exit 1
-fi
 
 ZED_SDK_version=$2
-# Remove the prefix 'zedsdk-'
-zed_sdk_version_number="${ZED_SDK_version#zedsdk-}"
+
 
 # copy the wrapper content
 rm -r ./tmp_sources
@@ -37,18 +31,55 @@ cp -r ../zed* ./tmp_sources
 IFS='.' read -r l4t_major l4t_minor l4t_patch <<< "$l4t_version_number"
 ###########
 
-# Split the string and assign to variables
-IFS='.' read -r sdk_major sdk_minor sdk_patch <<< "$zed_sdk_version_number"
-
-echo "Building dockerfile for $1 and ZED SDK $2"
-docker build -t zed_ros2_l4t_${l4t_major}.${l4t_minor}.${l4t_patch}_sdk_${sdk_major}.${sdk_minor}.${sdk_patch} \
---build-arg ZED_SDK_MAJOR=$sdk_major \
---build-arg ZED_SDK_MINOR=$sdk_minor \
---build-arg ZED_SDK_PATCH=$sdk_patch \
---build-arg L4T_VERSION=$1 \
---build-arg L4T_MAJOR=$l4t_major \
---build-arg L4T_MINOR=$l4t_minor \
--f ./Dockerfile.l4t-humble .
+L4T_VERSION=${1:-l4t-r${l4t_major}.${l4t_minor}.${l4t_patch}}
+
+# Determine the IMAGE_NAME based on the L4T_VERSION
+if [[ "$L4T_VERSION" == *"l4t-r36.4"* ]]; then
+    IMAGE_NAME="dustynv/ros:humble-desktop-${L4T_VERSION}"
+else
+    IMAGE_NAME="dustynv/ros:humble-ros-base-${L4T_VERSION}"
+fi
+
+# Check if the third arg is a custom path
+CUSTOM_ZED_SDK_URL=$2
+# Use curl to check if the URL is valid (returns HTTP 200)
+if [ "$(curl -L -I "${CUSTOM_ZED_SDK_URL}" -o /dev/null -s -w '%{http_code}\n' | head -n 1)" = "200" ]; then
+    echo "${ZED_SDK_version} detected as a valid custom installer URL"
+
+    echo "Building dockerfile for $1 and a custom ZED SDK"
+
+    docker build -t zed_ros2_l4t_${l4t_major}.${l4t_minor}.${l4t_patch}_sdk_custom \
+    --build-arg CUSTOM_ZED_SDK_URL=$CUSTOM_ZED_SDK_URL \
+    --build-arg L4T_VERSION=$1 \
+    --build-arg L4T_MAJOR=$l4t_major \
+    --build-arg L4T_MINOR=$l4t_minor \
+    --build-arg IMAGE_NAME=$IMAGE_NAME \
+    -f ./Dockerfile.l4t-humble .
+else
+    # Verify the ZED SDK format (digits.digits.digits)
+    if ! [[ $2 =~ ^zedsdk-[0-9]+\.[0-9]+\.[0-9]+$ ]]; then
+        echo "Invalid ZED SDK version format."
+        exit 1
+    fi
+
+    # Remove the prefix 'zedsdk-'
+    zed_sdk_version_number="${ZED_SDK_version#zedsdk-}"
+
+    # Split the string and assign to variables
+    IFS='.' read -r sdk_major sdk_minor sdk_patch <<< "$zed_sdk_version_number"
+
+    echo "Building dockerfile for $1 and ZED SDK $2"
+
+    docker build -t zed_ros2_l4t_${l4t_major}.${l4t_minor}.${l4t_patch}_sdk_${sdk_major}.${sdk_minor}.${sdk_patch} \
+    --build-arg ZED_SDK_MAJOR=$sdk_major \
+    --build-arg ZED_SDK_MINOR=$sdk_minor \
+    --build-arg ZED_SDK_PATCH=$sdk_patch \
+    --build-arg L4T_VERSION=$1 \
+    --build-arg L4T_MAJOR=$l4t_major \
+    --build-arg L4T_MINOR=$l4t_minor \
+    --build-arg IMAGE_NAME=$IMAGE_NAME \
+    -f ./Dockerfile.l4t-humble .
+fi
 
 # Remove the temporary folder
 rm -r ./tmp_sources
diff --git a/zed_components/src/zed_camera/include/zed_camera_component.hpp b/zed_components/src/zed_camera/include/zed_camera_component.hpp
@@ -42,6 +42,8 @@ class ZedCamera : public rclcpp::Node
   void initServices();
   void initThreads();
 
+  void close();
+
   void getDebugParams();
   void getSimParams();
   void getGeneralParams();
@@ -79,6 +81,7 @@ class ZedCamera : public rclcpp::Node
   void stopSvoRecording();
   bool startStreamingServer();
   void stopStreamingServer();
+  void closeCamera();
   // <---- Initialization functions
 
   // ----> Callbacks
@@ -753,6 +756,7 @@ class ZedCamera : public rclcpp::Node
 
   std::atomic<bool> mStreamingServerRunning;
 
+  bool mUsingCustomOd = false;
   bool mCustomLabelsGood = false;
   uint64_t mHeartbeatCount = 0;
   // <---- Status Flags
diff --git a/zed_components/src/zed_camera/include/zed_camera_one_component.hpp b/zed_components/src/zed_camera/include/zed_camera_one_component.hpp
@@ -54,7 +54,10 @@ class ZedCameraOne : public rclcpp::Node
   void getStreamingServerParams();
   void getAdvancedParams();
 
+  void close();
+
   bool startCamera();
+  void closeCamera();
   void startTempPubTimer();
   bool startStreamingServer();
   void stopStreamingServer();
diff --git a/zed_components/src/zed_camera/src/zed_camera_component.cpp b/zed_components/src/zed_camera/src/zed_camera_component.cpp
diff --git a/zed_components/src/zed_camera/src/zed_camera_one_component.cpp b/zed_components/src/zed_camera/src/zed_camera_one_component.cpp
