docker camera system fails on offline system (calibration)

[bmegli]

Preliminary Checks

• [X] This issue is not a duplicate. Before opening a new issue, please search existing issues.
• [X] This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

Docker camera system fails in offline (no internet) setup.

The reason is ZED SDK downloads camera calibration file over internet (when online) to:

• /usr/local/zed/settings
  • this is not mapped from docker to host container
  • in consequence when running offline docker container is unable to get this file
  • and doesn't have it from running online

Mapping this path is not documented anywhere (docker docs are in several places), as far as I see.

Steps to Reproduce

1. Unplug ZED-X system from the internet
2. Run docker container for ZED-X
3. System fails

Probably problem is similar for other ZED cameras

Expected Result

Offline system with camera(s) works just the same as online (with internet access).

Actual Result

Offline system doesn't work.

ZED Camera model

ZED-X

Environment

OS: Ubuntu 20.04 (Jetson L4T)
CPU: ARM64
GPU: Nvidia Jetson AGX Orin
ZED SDK: 4.0.8
ROS: Noetic
Docker image: based on `stereolabs/zed:4.0-runtime-l4t-r35.3`

Anything else?

No response

---

Edit:

• changed phrasing

[bmegli]

The fix is to map calibration file path to storage on host

• -v ${HOME}/zed_docker_settings/:/usr/local/zed/settings/
• run the system at least once online (with connection to internet)
• subsequent offline runs should now work

[bmegli]

This is now documented in zed-ros2-wrapper docker readme:

• https://github.com/stereolabs/zed-ros2-wrapper/tree/master/docker#volumes

[bmegli]

Related issue:

• https://github.com/stereolabs/zed-ros-wrapper/issues/942