added jetson nano image

CollaborativeRoboticsLab · Jul 23, 2024 · f5d37bd · f5d37bd
1 parent 83c4294
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diff --git a/.github/workflows/astra_jammy_humble.yml → ...b/workflows/orbbec_humble_amd64_arm64.yml b/.github/workflows/astra_jammy_humble.yml → ...b/workflows/orbbec_humble_amd64_arm64.yml
@@ -1,4 +1,4 @@
-name: ROS Humble Astra Control stack
+name: ROS Humble Astra Control stack for AMD64 and ARM64
 
 on:
   workflow_dispatch:
@@ -50,7 +50,7 @@ jobs:
         with:
           context: .
           file: docker/Dockerfile
-          platforms: linux/amd64,linux/arm64, linux/arm64/v8
+          platforms: linux/amd64,linux/arm64
           push: true
           tags: |
             ${{ env.REGISTRY }}/${{ env.OWNER }}/${{ env.IMAGE_NAME }}:latest

diff --git a/.github/workflows/orbbec_humble_j_nano.yml b/.github/workflows/orbbec_humble_j_nano.yml
@@ -0,0 +1,57 @@
+name: ROS Humble Astra Control stack for Jetson Nano
+
+on:
+  workflow_dispatch:
+
+  push:
+    branches: 
+      - main
+
+  pull_request:
+    branches: 
+      - main
+
+env:
+  REGISTRY: ghcr.io
+  OWNER: airesearchlab
+  IMAGE_NAME: orbbec
+
+# https://docs.github.com/en/actions/using-jobs/using-concurrency
+concurrency:
+  # only cancel in-progress jobs or runs for the current workflow - matches against branch & tags
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+
+  build-and-push-image:
+    runs-on: ubuntu-latest
+
+    permissions:
+      contents: write
+      packages: write
+
+    steps:
+      - name: Check out the repository
+        uses: actions/checkout@v4
+
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Log in to the Container registry
+        run: |
+          docker login --username ${{ env.OWNER }} --password ${{ secrets.GH_PAT }} ghcr.io 
+
+      - name: Build and Push
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          file: docker/Dockerfile.jetson-nano
+          platforms: linux/arm64
+          push: true
+          tags: |
+            ${{ env.REGISTRY }}/${{ env.OWNER }}/${{ env.IMAGE_NAME }}:latest-j-nano
+            ${{ env.REGISTRY }}/${{ env.OWNER }}/${{ env.IMAGE_NAME }}:humble-j-nano
diff --git a/README.MD b/README.MD
@@ -11,7 +11,6 @@ supports ROS 2 Foxy, Humble, and Jazzy distributions.
   * [Table of Contents](#table-of-contents)
   * [Usage with Docker Compose](#usage-with-docker-compose)
     * [Setup for pulling container from ghcr.io](#setup-for-pulling-container-from-ghcrio)
-    * [Setup for building the container on device](#setup-for-building-the-container-on-device)
   * [Installation Instructions](#installation-instructions)
   * [Getting start](#getting-start)
   * [Launch parameters](#launch-parameters)
@@ -63,26 +62,38 @@ Clone this reposiotory
 git clone https://github.com/AIResearchLab/OrbbecSDK_ROS2.git
 ```
 
+<details> 
+<summary> <h3> on AMD64 </h3> </summary>
+
 Pull the Docker image and start compose (No need to run `docker compose build`)
 ```bash
 cd src/OrbbecSDK_ROS2/docker
 docker compose pull
 docker compose up
 ```
 
-### Setup for building the container on device
+Reset the system and remove volume
+```bash
+docker compose down
+```
 
-Clone this reposiotory
+</details>
 
+<details> 
+<summary> <h3> on JetsonNano </h3> </summary>
+
+Pull the Docker image and start compose (No need to run `docker compose build`)
 ```bash
-git clone https://github.com/AIResearchLab/OrbbecSDK_ROS2.git
+cd src/boxmotOrbbecSDK_ROS2_ros/docker
+docker compose -f compose.jnano.yaml pull
+docker compose -f compose.jnano.yaml up
 ```
 
-Build the Docker image and start compose
+Reset the system and remove volume
 ```bash
-cd src/OrbbecSDK_ROS2/docker
-docker compose -f compose-build.yaml build
-docker compose -f compose-build.yaml up
+docker compose -f compose.jnano.yaml down
+```
+</details>
 ```
 
 ## Installation Instructions

diff --git a/docker/Dockerfile.jetson-nano b/docker/Dockerfile.jetson-nano
@@ -0,0 +1,127 @@
+#---------------------------------------------------------------------------------------------------------------------------
+#----
+#----   Start base image
+#----
+#---------------------------------------------------------------------------------------------------------------------------
+
+FROM ghcr.io/kalanaratnayake/foxy-ros-pytorch:1-13-humble-core-r32.7.1 as base
+
+## Parameters
+ENV ROS_DISTRO=humble
+ENV WORKSPACE_ROOT=/boxmot
+
+#############################################################################################################################
+#####
+#####   Install Dependencies
+#####
+#############################################################################################################################
+
+WORKDIR /
+
+RUN apt-get update -y
+
+RUN apt-get install -y --no-install-recommends ros-dev-tools \
+                                                libgflags-dev \
+                                                nlohmann-json3-dev \
+                                                libudev-dev \
+                                                libusb-dev \
+                                                udev \
+                                                pkg-config \
+                                                ninja-build \
+                                                doxygen \
+                                                clang \
+                                                python3 \
+                                                nasm \
+                                                libgl1-mesa-dev \
+                                                libsoundio-dev \
+                                                libvulkan-dev \
+                                                libx11-dev \
+                                                libxcursor-dev \
+                                                libxinerama-dev \
+                                                libxrandr-dev \
+                                                libusb-1.0-0-dev \
+                                                libssl-dev \
+                                                libudev-dev \
+                                                mesa-common-dev \
+                                                uuid-dev
+
+RUN apt-get clean
+
+#############################################################################################################################
+#####
+#####   Install Orbbec packages
+#####
+#############################################################################################################################
+
+WORKDIR /SDK
+
+RUN git clone https://github.com/orbbec/OrbbecSDK.git
+
+RUN mkdir -p /etc/udev/rules.d/
+
+RUN cp /SDK/OrbbecSDK/misc/scripts/99-obsensor-libusb.rules /etc/udev/rules.d/99-obsensor-libusb.rules
+
+WORKDIR /SDK/OrbbecSDK/build
+
+RUN cmake .. && \
+    make -j4 && \
+    make install
+
+#############################################################################################################################
+#####
+#####   Install Orbbec ROS2 packages
+#####
+#############################################################################################################################
+
+WORKDIR ${WORKSPACE_ROOT}/src
+
+RUN git clone https://github.com/orbbec/OrbbecSDK_ROS2.git
+
+WORKDIR ${WORKSPACE_ROOT}
+
+RUN . /opt/ros/humble/setup.sh && colcon build --event-handlers  console_direct+  --cmake-args  -DCMAKE_BUILD_TYPE=Release
+
+WORKDIR /
+
+RUN 
+
+#############################################################################################################################
+#####
+#####   Remove workspace source and build files that are not relevent to running the system
+#####
+#############################################################################################################################
+
+RUN rm -rf /SDK
+RUN rm -rf ${WORKSPACE_ROOT}/log
+RUN rm -rf ${WORKSPACE_ROOT}/build
+
+RUN rm -rf /var/lib/apt/lists/*
+RUN rm -rf /tmp/*
+RUN apt-get clean
+
+
+#---------------------------------------------------------------------------------------------------------------------------
+#----
+#----   Start final release image
+#----
+#---------------------------------------------------------------------------------------------------------------------------
+
+
+FROM ghcr.io/kalanaratnayake/foxy-ros-pytorch:1-13-humble-core-r32.7.1 as final
+
+## Parameters
+ENV WORKSPACE_ROOT=/orbbec
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+ENV LD_PRELOAD=/usr/lib/aarch64-linux-gnu/libgomp.so.1
+
+WORKDIR /
+
+COPY --from=base / /
+
+COPY docker/workspace_entrypoint.sh /workspace_entrypoint.sh
+RUN chmod +x /workspace_entrypoint.sh
+
+ENTRYPOINT [ "/workspace_entrypoint.sh" ]
+
+WORKDIR ${WORKSPACE_ROOT}
+
diff --git a/docker/compose-build.yaml → docker/compose.jnano.yaml b/docker/compose-build.yaml → docker/compose.jnano.yaml
@@ -1,7 +1,6 @@
 services:
   orbbec:
-    build:
-      dockerfile: Dockerfile
+    image: ghcr.io/airesearchlab/orbbec:humble-j-nano
     command: ros2 launch orbbec_camera femto_bolt.launch.py
     restart: unless-stopped
     privileged: true