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Fix L4T R35.4.1 Humble Docker build #337

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Fix L4T R35.4.1 Humble Docker build #337

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3dae7d0
fix [Dockerfile.l4t-humble]: Fix compilation for r35.4.1
leroycorentin Apr 23, 2025
ee34b17
fix [Dockerfile.l4t-humble]: Install ZED tools dependencies
leroycorentin Apr 23, 2025
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8 changes: 6 additions & 2 deletions docker/Dockerfile.l4t-humble
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -58,11 +60,11 @@ 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 \
${ZED_SDK_URL} && \
chmod +x ZED_SDK_Linux_JP.run ; ./ZED_SDK_Linux_JP.run silent skip_tools && \
chmod +x ZED_SDK_Linux_JP.run ; ./ZED_SDK_Linux_JP.run silent && \
rm -rf /usr/local/zed/resources/* && \
rm -rf ZED_SDK_Linux_JP.run && \
rm -rf /var/lib/apt/lists/*
Expand All @@ -77,12 +79,14 @@ COPY tmp_sources/ ./
# Install missing dependencies from the sources
WORKDIR /root/ros2_ws/src
RUN wget https://github.com/ros/xacro/archive/refs/tags/${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 && \
Expand Down