Building Ros2-desktop image

CollinNHays commented 3 years ago

I am attempting to build Ros2-desktop by changing the the ROS_PKG argument from "ros_base" to "desktop" as done in #38 . I have attempted to do this with both Foxy and Galactic and am running into the following error.

--- stderr: sdl2_vendor CMake Error at cmake/Modules/Findsdl2_custom.cmake:9 (target_link_libraries): Cannot specify link libraries for target "SDL2::SDL2" which is not built by this project. Call Stack (most recent call first): CMakeLists.txt:12 (find_package)

Failed <<< sdl2_vendor [4.70s, exited with code 1]

I can see that rosdep successfully installs libsdl2-2.0-0 and libsdl2-dev. This is the version of sdl2_vendor used for Foxy.

local-name: joystick_drivers/sdl2_vendor
uri: https://github.com/ros2-gbp/joystick_drivers-release.git
version: release/foxy/sdl2_vendor/3.0.0-2

dusty-nv commented 3 years ago

I haven't been able to build Foxy desktop either, but Dan Pollock from the forums has:

CollinNHays commented 3 years ago

The ROS2-foxy-zed is only a ros_base image. The script by Dan Pollock has some errors in it and doesn't work either. I spent some time troubleshooting and was able to get foxy desktop to build in a docker container by combining your foxy Dockerfile with the script by Dan Pollock.

I also included some sensor drivers for Ouster, RoverRobotics and VectorNav in the ~/ros2_ws.

ROS2 Foxy-Desktop Docker container for Jetson AGX Xavier

Works and tested on fresh install of Jetpack 4.5.0.

1. Change Dokcer Default Runtime: To enable access to the CUDA compiler (nvcc) during docker build operations, add "default-runtime": "nvidia" to your /etc/docker/daemon.json configuration file before attempting to build the containers:


{
    "runtimes": {
        "nvidia": {
            "path": "nvidia-container-runtime",
            "runtimeArgs": []
        }
    },

    "default-runtime": "nvidia"
}

You will then want to restart the Docker service or reboot your system before proceeding.

2. Clone dusty-nv docker container scripts:


git clone https://github.com/dusty-nv/jetson-containers
cd jetson-containers

3. Download files: Ros2-foxy-desktop-CollinNHays.zip

4. Replace files: In the jetson-containers directory replace "Dockerfile.ros.roxy" with the respective file downloaded above. In the jetson-containers/scripts directory replace "docker_run.sh" withe the respective file downloaded above. In the jetson-containers/packages directory replace "ros_entrypoint.sh" withe the respective file downloaded above.

5. Build the container:


./scripts/docker_build_ros.sh foxy desktop

You may have to attempt to build multiple times if any of the downloads fail in the process. This takes over an hour.

6. Run the container:


./scripts/docker_run.sh -c ros:foxy-desktop-l4t-r32.5.1

Ctrl + d to exit and stop the container.

dusty-nv / jetson-containers

Building Ros2-desktop image #73