From 3dae7d0544d8d108bc105b498ab5f93f37f22e46 Mon Sep 17 00:00:00 2001 From: Corentin LEROY Date: Wed, 23 Apr 2025 13:27:08 +0200 Subject: [PATCH 1/2] fix [Dockerfile.l4t-humble]: Fix compilation for r35.4.1 --- docker/Dockerfile.l4t-humble | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/docker/Dockerfile.l4t-humble b/docker/Dockerfile.l4t-humble index 61e76680..456ef609 100644 --- a/docker/Dockerfile.l4t-humble +++ b/docker/Dockerfile.l4t-humble @@ -17,6 +17,7 @@ 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 @@ -24,6 +25,7 @@ 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 \ ${ZED_SDK_URL} && \ @@ -77,12 +79,14 @@ COPY tmp_sources/ ./ # Install missing dependencies from the sources WORKDIR /root/ros2_ws/src RUN wget https://github.com/ros/xacro/archive/refs/tags/${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-${RMW_CYCLONEDDS_VERSION} rmw_cyclonedds && \ From ee34b1765224ffad85b0c85f3f71ff718cae2e39 Mon Sep 17 00:00:00 2001 From: Corentin LEROY Date: Wed, 23 Apr 2025 13:28:52 +0200 Subject: [PATCH 2/2] fix [Dockerfile.l4t-humble]: Install ZED tools dependencies --- docker/Dockerfile.l4t-humble | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docker/Dockerfile.l4t-humble b/docker/Dockerfile.l4t-humble index 456ef609..29bd7f53 100644 --- a/docker/Dockerfile.l4t-humble +++ b/docker/Dockerfile.l4t-humble @@ -64,7 +64,7 @@ RUN echo "# R${L4T_MAJOR} (release), REVISION: ${L4T_MINOR}" > /etc/nv_tegra_rel pip install protobuf && \ wget -q --no-check-certificate -O ZED_SDK_Linux_JP.run \ ${ZED_SDK_URL} && \ - chmod +x ZED_SDK_Linux_JP.run ; ./ZED_SDK_Linux_JP.run silent skip_tools && \ + chmod +x ZED_SDK_Linux_JP.run ; ./ZED_SDK_Linux_JP.run silent && \ rm -rf /usr/local/zed/resources/* && \ rm -rf ZED_SDK_Linux_JP.run && \ rm -rf /var/lib/apt/lists/*