Arkadiy/proximity warning

.devcontainer/Dockerfile

@@ -0,0 +1,121 @@
+ARG BASE_IMAGE=ros:humble-perception
+
+# The following steps are based on the offical multi-stage build: https://github.com/IntelRealSense/librealsense/blob/master/scripts/Docker/Dockerfile
+#################################
+#   Librealsense Builder Stage  #
+#################################
+FROM $BASE_IMAGE as librealsense-builder
+
+SHELL ["/bin/bash", "-c"]
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update \
+ && apt-get install -qq -y --no-install-recommends \
+    build-essential \
+    cmake \
+    git \
+    libssl-dev \
+    libusb-1.0-0-dev \
+    pkg-config \
+    libgtk-3-dev \
+    libglfw3-dev \
+    libgl1-mesa-dev \
+    libglu1-mesa-dev \    
+    curl \
+    python3 \
+    python3-dev \
+    ca-certificates \
+ && rm -rf /var/lib/apt/lists/*
+
+WORKDIR /usr/src
+# Get the latest tag of remote repository: https://stackoverflow.com/a/12704727
+# Needs to be a single command as ENV can't be set from Bash command: https://stackoverflow.com/questions/34911622/dockerfile-set-env-to-result-of-command
+RUN export LIBRS_VERSION=2.53.1; \
+    curl https://codeload.github.com/IntelRealSense/librealsense/tar.gz/refs/tags/v${LIBRS_VERSION} -o librealsense.tar.gz; \
+    tar -zxf librealsense.tar.gz; \
+    rm librealsense.tar.gz; \
+    ln -s /usr/src/librealsense-${LIBRS_VERSION} /usr/src/librealsense
+
+RUN cd /usr/src/librealsense \
+ && mkdir build && cd build \
+ && cmake \
+    -DCMAKE_C_FLAGS_RELEASE="${CMAKE_C_FLAGS_RELEASE} -s" \
+    -DCMAKE_CXX_FLAGS_RELEASE="${CMAKE_CXX_FLAGS_RELEASE} -s" \
+    -DCMAKE_INSTALL_PREFIX=/opt/librealsense \    
+    -DBUILD_GRAPHICAL_EXAMPLES=OFF \
+    -DBUILD_PYTHON_BINDINGS:bool=true \
+    -DCMAKE_BUILD_TYPE=Release ../ \
+ && make -j$(($(nproc)-1)) all \
+ && make install
+
+ ENV DEBIAN_FRONTEND=dialog
+
+######################################
+#   librealsense Base Image Stage    #
+######################################
+FROM ${BASE_IMAGE} as librealsense
+
+SHELL ["/bin/bash", "-c"]
+
+COPY --from=librealsense-builder /opt/librealsense /usr/local/
+COPY --from=librealsense-builder /usr/lib/python3/dist-packages/pyrealsense2 /usr/lib/python3/dist-packages/pyrealsense2
+COPY --from=librealsense-builder /usr/src/librealsense/config/99-realsense-libusb.rules /etc/udev/rules.d/
+ENV PYTHONPATH=${PYTHONPATH}:/usr/local/lib
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update \
+ && apt-get install -y --no-install-recommends \	
+    libusb-1.0-0 \
+    udev \
+    apt-transport-https \
+    ca-certificates \
+    curl \
+    software-properties-common \
+ && rm -rf /var/lib/apt/lists/*
+# The following steps are based on: https://github.com/IntelRealSense/realsense-ros/tree/ros2-development
+# ENV WS_DIR="/ros2_ws"
+# WORKDIR ${WS_DIR}
+RUN apt-get update -y \
+ && apt-get install -y \
+    ros-${ROS_DISTRO}-rviz2
+#  && mkdir src
+
+RUN sudo apt-get install ros-humble-rmw-cyclonedds-cpp -y
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+RUN sudo apt-get install ros-humble-image-transport-plugins -y
+
+# COPY docker/realsense-ros ./src
+# COPY docker/multi_camera_launch.py /ros2_ws/src/realsense2_camera/launch
+# COPY docker/depth_handler /ros2_ws/src/depth_handler
+# COPY docker/proximity_monitor /ros2_ws/src/proximity_monitor
+RUN apt-get install -y python3-rosdep \
+ && apt-get update \
+ && source /opt/ros/${ROS_DISTRO}/setup.bash \
+ && rm /etc/ros/rosdep/sources.list.d/20-default.list \
+ && rosdep init \
+ && rosdep update \
+ && rosdep install -i --from-path src --rosdistro ${ROS_DISTRO} --skip-keys=librealsense2 -y \
+ && colcon build
+RUN sudo apt-get install python3-opencv
+# RUN echo "source /ros2_ws/install/setup.bash" >> ~/.bashrc
+# COPY docker/launch.sh .
+
+ARG USERNAME=ros
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+# Create a non-root user
+RUN groupadd --gid $USER_GID $USERNAME \
+  && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
+  # Add sudo support for the non-root user
+  && apt-get update \
+  && apt-get install -y sudo \
+  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
+  && chmod 0440 /etc/sudoers.d/$USERNAME \
+  && rm -rf /var/lib/apt/lists/*
+
+# RUN chmod +x /ros2_ws/launch.sh
+ENV DEBIAN_FRONTEND=dialog
+# ENTRYPOINT ["/ros2_ws/launch.sh"]

.devcontainer/devcontainer.json

@@ -1,11 +1,53 @@
+// See https://aka.ms/vscode-remote/devcontainer.json for format details.
 {
-  "name": "Docker for Intel Realsense with ROS 2",
-  "dockerComposeFile": [
-    "../docker/docker-compose-gui.yml" // Alternatives: "../docker/docker-compose-gui.yml", "../docker/docker-compose-gui-nvidia.yml"
-  ],
-  "service": "realsense_ros2",
-	"workspaceFolder": "/ros2_ws",
-  "shutdownAction": "stopCompose",
-  "extensions": [
-  ]
+	"dockerFile": "Dockerfile",
+	"context": "..",
+	"build": {
+		"args": {
+			"WORKSPACE": "${containerWorkspaceFolder}"
+		}
+	},
+	"remoteUser": "ros",
+	"runArgs": [
+		"--network=host",
+		"--cap-add=SYS_PTRACE",
+		"--security-opt=seccomp:unconfined",
+		"--security-opt=apparmor:unconfined",
+		"--volume=/tmp/.X11-unix:/tmp/.X11-unix",
+		"--volume=/mnt/wslg:/mnt/wslg",
+		"--ipc=host",
+		"--volume=/dev:/dev",
+		"--device-cgroup-rule=c 81:* rmw",
+		"--device-cgroup-rule=c 189:* rmw"
+		// uncomment to use intel iGPU
+		// "--device=/dev/dri"
+	],
+	"containerEnv": {
+		"DISPLAY": "${localEnv:DISPLAY}", // Needed for GUI try ":0" for windows
+		"WAYLAND_DISPLAY": "${localEnv:WAYLAND_DISPLAY}",
+		"XDG_RUNTIME_DIR": "${localEnv:XDG_RUNTIME_DIR}",
+		"PULSE_SERVER": "${localEnv:PULSE_SERVER}",
+		"LIBGL_ALWAYS_SOFTWARE": "1", // Needed for software rendering of opengl
+		"RMW_IMPLEMENTATION": "rmw_cyclonedds_cpp"
+	},
+	// Set *default* container specific settings.json values on container create.
+	"customizations": {
+		"vscode": {
+			"extensions": [
+				"althack.ament-task-provider",
+				"betwo.b2-catkin-tools",
+				"DotJoshJohnson.xml",
+				"ms-azuretools.vscode-docker",
+				"ms-iot.vscode-ros",
+				"ms-python.python",
+				"ms-vscode.cpptools",
+				"redhat.vscode-yaml",
+				"smilerobotics.urdf",
+				"streetsidesoftware.code-spell-checker",
+				"twxs.cmake",
+				"yzhang.markdown-all-in-one",
+				"zachflower.uncrustify"
+			]
+		}
+	}
 }

.gitignore

@@ -0,0 +1,5 @@
+*/__pycache__
+build/*
+install/*
+log/*
+site/*

.gitmodules

@@ -1,3 +1,3 @@
-[submodule "docker/realsense-ros"]
-	path = docker/realsense-ros
+[submodule "src/realsense-ros"]
+	path = src/realsense-ros
 	url = https://github.com/juandelos/realsense-ros.git

.vscode/c_cpp_properties.json

@@ -0,0 +1,18 @@
+{
+    "configurations": [
+        {
+            "name": "Linux",
+            "includePath": [
+                "${workspaceFolder}/**",
+                "/opt/ros/humble/include/**"
+            ],
+            "defines": [],
+            "compilerPath": "/usr/bin/gcc",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
+            "cStandard": "c99",
+            "cppStandard": "c++17",
+            "intelliSenseMode": "linux-gcc-x64"
+        }
+    ],
+    "version": 4
+}

.vscode/launch.json

@@ -0,0 +1,90 @@
+{
+  // Use IntelliSense to learn about possible attributes.
+  // Hover to view descriptions of existing attributes.
+  // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+  "version": "0.2.0",
+  "configurations": [
+    // Example launch of a python file
+    {
+      "name": "Python: Current File",
+      "type": "python",
+      "request": "launch",
+      "program": "${file}",
+      "console": "integratedTerminal",
+    },
+    // Example gdb launch of a ros executable
+    {
+      "name": "(gdb) Launch (merge-install)",
+      "type": "cppdbg",
+      "request": "launch",
+      "program": "${workspaceFolder}/install/lib/${input:package}/${input:program}",
+      "args": [],
+      "preLaunchTask": "build",
+      "stopAtEntry": true,
+      "cwd": "${workspaceFolder}",
+      "externalConsole": false,
+      "MIMode": "gdb",
+      "setupCommands": [
+        {
+          "description": "Enable pretty-printing for gdb",
+          "text": "-enable-pretty-printing",
+          "ignoreFailures": true
+        }
+      ]
+    },
+    {
+      "name": "(gdb) Launch (isolated-install)",
+      "type": "cppdbg",
+      "request": "launch",
+      "program": "${workspaceFolder}/install/${input:package}/lib/${input:package}/${input:program}",
+      "args": [],
+      "preLaunchTask": "build",
+      "stopAtEntry": true,
+      "cwd": "${workspaceFolder}",
+      "externalConsole": false,
+      "MIMode": "gdb",
+      "setupCommands": [
+        {
+          "description": "Enable pretty-printing for gdb",
+          "text": "-enable-pretty-printing",
+          "ignoreFailures": true
+        }
+      ]
+    },
+    //Example of a ROS Launch file
+    {
+      "name": "ROS: Launch File (merge-install)",
+      "type": "ros",
+      "request": "launch",
+      "preLaunchTask": "build",
+      "target": "${workspaceFolder}/install/share/${input:package}/launch/${input:ros_launch}",
+    },
+    {
+      "name": "ROS: Launch File (isolated-install)",
+      "type": "ros",
+      "request": "launch",
+      "preLaunchTask": "build",
+      "target": "${workspaceFolder}/install/${input:package}/share/${input:package}/launch/${input:ros_launch}",
+    },
+  ],
+  "inputs": [
+    {
+      "id": "package",
+      "type": "promptString",
+      "description": "Package name",
+      "default": "examples_rclcpp_minimal_publisher"
+    },
+    {
+      "id": "program",
+      "type": "promptString",
+      "description": "Program name",
+      "default": "publisher_member_function"
+    },
+    {
+      "id": "ros_launch",
+      "type": "promptString",
+      "description": "ROS launch name",
+      "default": "file_name_launch.py"
+    }
+  ]
+}

.vscode/settings.json

@@ -0,0 +1,74 @@
+{
+    "editor.tabSize": 8,
+    "editor.rulers": [
+        100
+    ],
+    "files.associations": {
+        "*.repos": "yaml",
+        "*.world": "xml",
+        "*.xacro": "xml"
+    },
+    "python.analysis.extraPaths": [
+        "/opt/ros/humble/lib/python3.10/site-packages/"
+    ],
+    // Autocomplete from ros python packages
+    "python.autoComplete.extraPaths": [
+        "/opt/ros/humble/lib/python3.10/site-packages/"
+    ],
+    // Environment file lets vscode find python files within workspace
+    "python.envFile": "${workspaceFolder}/.env",
+    // Use the system installed version of autopep8
+    "python.formatting.autopep8Path": "/usr/bin/autopep8",
+    "python.formatting.autopep8Args": [
+        "--max-line-length=100"
+    ],
+    "C_Cpp.default.intelliSenseMode": "linux-gcc-x86",
+    "C_Cpp.formatting": "disabled",
+    "uncrustify.configPath.linux": "/opt/ros/humble/lib/python3.10/site-packages/ament_uncrustify/configuration/ament_code_style.cfg",
+    "[cpp]": {
+        "editor.defaultFormatter": "zachflower.uncrustify"
+    },
+    "search.exclude": {
+        "**/node_modules": true,
+        "**/bower_components": true,
+        "**/*.code-search": true,
+        "**/build": true,
+        "**/install": true,
+        "**/log": true
+    },
+    "cSpell.words": [
+        "RTPS",
+        "athackst",
+        "autopep",
+        "cmake",
+        "cppcheck",
+        "cpplint",
+        "DCMAKE",
+        "deque",
+        "devcontainer",
+        "ints",
+        "noqa",
+        "pytest",
+        "rclcpp",
+        "rclpy",
+        "repos",
+        "rosdep",
+        "rosdistro",
+        "rosidl",
+        "RTPS",
+        "uncrustify",
+        "Wextra",
+        "Wpedantic",
+        "xmllint"
+    ],
+    "cSpell.allowCompoundWords": true,
+    "cSpell.ignorePaths": [
+        "**/package-lock.json",
+        "**/node_modules/**",
+        "**/vscode-extension/**",
+        "**/.git/objects/**",
+        ".vscode",
+        ".vscode-insiders",
+        ".devcontainer/devcontainer.json"
+    ]
+}