fix [Dockerfile.l4t-humble]: Fix compilation for r35.4.1

Author: leroycorentin

docker/Dockerfile.l4t-humble

@@ -17,13 +17,15 @@ ARG ROS2_DIST=humble
 
 # ZED ROS2 Wrapper dependencies version
 ARG XACRO_VERSION=2.0.8
+ARG DRACO_VERSION=1.5.7
 ARG DIAGNOSTICS_VERSION=4.0.0
 ARG AMENT_LINT_VERSION=0.12.11
 ARG ROBOT_LOCALIZATION_VERSION=3.5.3
 ARG ZED_MSGS_VERSION=5.0.0
 ARG NMEA_MSGS_VERSION=2.0.0
 ARG ANGLES_VERSION=1.15.0
 ARG GEOGRAPHIC_INFO_VERSION=1.0.6
+ARG RCPPUTILS_VERSION=2.11.2
 ARG POINTCLOUD_TRANSPORT_VERSION=1.0.18
 ARG POINTCLOUD_TRANSPORT_PLUGINS_VERSION=1.0.11
 ARG RMW_CYCLONEDDS_VERSION=1.3.4
@@ -58,7 +60,7 @@ RUN echo "# R${L4T_MAJOR} (release), REVISION: ${L4T_MINOR}" > /etc/nv_tegra_rel
   apt-get update -y || true && \
   apt-get install -y --no-install-recommends zstd wget less cmake curl gnupg2 \
   build-essential python3 python3-pip python3-dev python3-setuptools libusb-1.0-0-dev \ 
-  libgeographic-dev libdraco-dev zlib1g-dev -y && \
+  libgeographic-dev zlib1g-dev -y && \
   pip install protobuf && \
   wget -q --no-check-certificate -O ZED_SDK_Linux_JP.run \
   ${ZED_SDK_URL} && \
@@ -70,19 +72,17 @@ RUN echo "# R${L4T_MAJOR} (release), REVISION: ${L4T_MINOR}" > /etc/nv_tegra_rel
 # Install the ZED ROS2 Wrapper
 ENV ROS_DISTRO=${ROS2_DIST}
 
-# Copy the sources in the Docker image
-WORKDIR /root/ros2_ws/src
-COPY tmp_sources/ ./
-
 # Install missing dependencies from the sources
 WORKDIR /root/ros2_ws/src
 RUN wget https://github.com/ros/xacro/archive/refs/tags/${XACRO_VERSION}.tar.gz -O - | tar -xvz && mv xacro-${XACRO_VERSION} xacro && \
+    wget https://github.com/google/draco/archive/refs/tags/${DRACO_VERSION}.tar.gz -O - | tar -xvz && mv draco-${DRACO_VERSION} draco && cd draco && mkdir -p build && cd build && cmake .. && make install && cd ../.. && \
     wget https://github.com/ros/diagnostics/archive/refs/tags/${DIAGNOSTICS_VERSION}.tar.gz -O - | tar -xvz && mv diagnostics-${DIAGNOSTICS_VERSION} diagnostics && \
     wget https://github.com/ament/ament_lint/archive/refs/tags/${AMENT_LINT_VERSION}.tar.gz -O - | tar -xvz && mv ament_lint-${AMENT_LINT_VERSION} ament-lint && \
     wget https://github.com/cra-ros-pkg/robot_localization/archive/refs/tags/${ROBOT_LOCALIZATION_VERSION}.tar.gz -O - | tar -xvz && mv robot_localization-${ROBOT_LOCALIZATION_VERSION} robot-localization && \
     wget https://github.com/stereolabs/zed-ros2-interfaces/archive/refs/tags/${ZED_MSGS_VERSION}.tar.gz -O - | tar -xvz && mv zed-ros2-interfaces-${ZED_MSGS_VERSION} zed-ros2-interfaces && \
     wget https://github.com/ros-drivers/nmea_msgs/archive/refs/tags/${NMEA_MSGS_VERSION}.tar.gz -O - | tar -xvz && mv nmea_msgs-${NMEA_MSGS_VERSION} nmea_msgs && \
     wget https://github.com/ros/angles/archive/refs/tags/${ANGLES_VERSION}.tar.gz -O - | tar -xvz && mv angles-${ANGLES_VERSION} angles && \
+    wget https://github.com/ros2/rcpputils/archive/refs/tags/${RCPPUTILS_VERSION}.tar.gz -O - | tar -xvz && mv rcpputils-${RCPPUTILS_VERSION} rcpputils && \
     wget https://github.com/ros-perception/point_cloud_transport/archive/refs/tags/${POINTCLOUD_TRANSPORT_VERSION}.tar.gz -O - | tar -xvz && mv point_cloud_transport-${POINTCLOUD_TRANSPORT_VERSION} point_cloud_transport && \
     wget https://github.com/ros-perception/point_cloud_transport_plugins/archive/refs/tags/${POINTCLOUD_TRANSPORT_PLUGINS_VERSION}.tar.gz -O - | tar -xvz && mv point_cloud_transport_plugins-${POINTCLOUD_TRANSPORT_PLUGINS_VERSION} point_cloud_transport_plugins && \
     wget https://github.com/ros2/rmw_cyclonedds/archive/refs/tags/${RMW_CYCLONEDDS_VERSION}.tar.gz -O - | tar -xvz && mv rmw_cyclonedds-${RMW_CYCLONEDDS_VERSION} rmw_cyclonedds && \
@@ -93,11 +93,22 @@ RUN wget https://github.com/ros/xacro/archive/refs/tags/${XACRO_VERSION}.tar.gz
 # Install cython
 RUN python3 -m pip install --upgrade cython
 
-# Build the dependencies and the ZED ROS2 Wrapper
+# Build the dependencies
 WORKDIR /root/ros2_ws
 RUN /bin/bash -c "source /opt/ros/$ROS_DISTRO/install/setup.bash && \
+  colcon build --parallel-workers $(nproc) --symlink-install \
+  --event-handlers console_direct+ --base-paths src"
+
+# Copy the sources in the Docker image
+WORKDIR /root/ros2_ws/src
+COPY tmp_sources/ ./
+
+# Build the ZED ROS2 Wrapper
+WORKDIR /root/ros2_ws
+RUN /bin/bash -c "source /root/ros2_ws/install/setup.bash && \
   colcon build --parallel-workers $(nproc) --symlink-install \
   --event-handlers console_direct+ --base-paths src \
+  --packages-select-regex '^zed.*' \
   --cmake-args ' -DCMAKE_BUILD_TYPE=Release' \
   ' -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs' \
   ' -DCMAKE_CXX_FLAGS="-Wl,--allow-shlib-undefined"' \