Goal: ZED SDK, Python API, and ROS2 (Foxy) wrapper working in Docker container
Background:
We purchased a robot that has a Jetson Nano board running Ubuntu 18.04 (L4T 32.6.1, Cuda 10.2). The Jetson board comes with a ROS2 Foxy Docker image (Ubuntu 20.04) that has company-provided packages to run the robot. We are trying to integrate a ZED 2 camera into this robot’s eco-system. To do this, we are starting with a fresh docker image and first integrating Zed’s components and then the company-provided ROS2 packages.
Current Status:
We have successfully integrated ZED SDK and Python API through the following steps:
- Pull Nvidia/dustynv’s ros-foxy image (did not use his Zed docker image since that did not have ROS2 and was missing tools like Zed_Explorer)
- Install Zed SDK (4.0 L4T 32.7) inside the container through the following commands:
- sudo apt update && sudo apt install zstd
- ./jetsons – silent skip_od_module skip_hub
- docker commit this container to a new image
We tested that SDK works using ZED_Explorer and that the Python API works by running one of the sample programs
Issues:
We followed the installation and Github Dockerfile to integrate ROS2 wrapper into our container. Steps in the docs worked unto the rosdep command, but ran into issues at colcon build.
We did manually install missing dependencies as suggested by the linked Dockerfile (lines 60-78) and even tried following lines 83-89 to source ROS Foxy and then colcon build. We only skipped line 80 (upgrading cython) since I believe cython==0.29.36 is necessary for pyzed. However, the xacro package keeps failing to build which prevents the rest of the packages from building. I can provide a log of commands I ran with associated output (unable to attach for some reason). But here’s the error and colcon build summary:
CMake Error at /opt/ros/foxy/install/share/ament_cmake_python/cmake/ament_python_install_package.cmake:34 (message):
-- Configuring incomplete, errors occurred!
ament_python_install_package() called with unused arguments:
SCRIPTS_DESTINATION;lib/xacro
Summary: 6 packages finished [5min 16s]
1 package failed: xacro
3 packages aborted: ament_pep257 geographic_msgs nmea_msgs
10 packages had stderr output: ament_cppcheck ament_flake8 ament_lint ament_lint_auto ament_pep257 ament_pycodestyle angles geographic_msgs nmea_msgs xacro
33 packages not processed
How can we resolve this issue? Since the linked Dockerfile downloads specific versions of those missing dependencies for ROS Humble L4T35.1.0, we’re wondering if there are specific versions necessary for ROS Foxy L4T 32.7.1. So a Dockerfile / container for Foxy would help.