Merge pull request #129 from NVIDIA-ISAAC-ROS/release-3.0

Isaac ROS 3.0.1

docker/Dockerfile.realsense

@@ -12,36 +12,13 @@ ARG BASE_IMAGE
 FROM ${BASE_IMAGE}
 
 ARG LIBREALSENSE_SOURCE_VERSION=v2.55.1
-ARG LIBREALSENSE_DEB_VERSION=2.55.1-0~realsense.12474
-ARG LIBREALSENSE_DKMS_DEB_VERSION=1.3.26-0ubuntu1
-ARG REALSENSE2_CAMERA_ROS_DEB_VERSION=4.54.1-1jammy.20240517.191635
-
-# Install realsense2-camera ROS package and librealsense from binaries for x86_64 only
-RUN --mount=type=cache,target=/var/cache/apt \
-    if [[ "$(uname -m)" == "x86_64" ]]; then \
-        mkdir -p /etc/apt/keyrings && \
-        curl -sSf https://librealsense.intel.com/Debian/librealsense.pgp | \
-        tee /etc/apt/keyrings/librealsense.pgp > /dev/null  && \
-        echo "deb [signed-by=/etc/apt/keyrings/librealsense.pgp] \
-        https://librealsense.intel.com/Debian/apt-repo `lsb_release -cs` main" | \
-        tee /etc/apt/sources.list.d/librealsense.list && apt-get update && \
-        apt-get install -y \
-        librealsense2-dkms=${LIBREALSENSE_DKMS_DEB_VERSION} \
-        librealsense2-utils=${LIBREALSENSE_DEB_VERSION} \
-        librealsense2-dev=${LIBREALSENSE_DEB_VERSION} \
-        ros-humble-realsense2-camera=${REALSENSE2_CAMERA_ROS_DEB_VERSION}; \
-    fi
 
 COPY scripts/build-librealsense.sh /opt/realsense/build-librealsense.sh
 COPY scripts/install-realsense-dependencies.sh /opt/realsense/install-realsense-dependencies.sh
 
-# Build librealsense from source for aarch64 only
-# The realsense2-camera ROS package will be built from source as part of the "RealSense Setup docs" for aarch64 only
-RUN if [[ $(uname -m) == "aarch64" ]]; then \
-        chmod +x /opt/realsense/install-realsense-dependencies.sh && \
-        /opt/realsense/install-realsense-dependencies.sh; \
-        chmod +x /opt/realsense/build-librealsense.sh && /opt/realsense/build-librealsense.sh -v ${LIBREALSENSE_SOURCE_VERSION}; \
-    fi
+RUN chmod +x /opt/realsense/install-realsense-dependencies.sh && \
+    /opt/realsense/install-realsense-dependencies.sh; \
+    chmod +x /opt/realsense/build-librealsense.sh && /opt/realsense/build-librealsense.sh -v ${LIBREALSENSE_SOURCE_VERSION};
 
 # Copy hotplug script for udev rules/hotplug for RealSense
 RUN mkdir -p /opt/realsense/

isaac_ros_apriltag_interfaces/package.xml

@@ -11,7 +11,7 @@ license agreement from NVIDIA CORPORATION is strictly prohibited.
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_apriltag_interfaces</name>
-  <version>3.0.0</version>
+  <version>3.0.1</version>
   <description>Interfaces for performing Isaac ROS AprilTag detection</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

isaac_ros_bi3d_interfaces/package.xml

@@ -11,7 +11,7 @@ license agreement from NVIDIA CORPORATION is strictly prohibited.
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_bi3d_interfaces</name>
-  <version>3.0.0</version>
+  <version>3.0.1</version>
   <description>Interfaces for Isaac ROS Bi3D</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

isaac_ros_common/package.xml

@@ -13,7 +13,7 @@ license agreement from NVIDIA CORPORATION is strictly prohibited.
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_common</name>
-  <version>3.0.0</version>
+  <version>3.0.1</version>
   <description>Utilities for performing common functions in Isaac ROS packages</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

isaac_ros_launch_utils/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_launch_utils</name>
-  <version>3.0.0</version>
+  <version>3.0.1</version>
   <description>Helper functions to simplify ROS2 launch files.</description>
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>
   <license>Apache-2.0</license>

isaac_ros_nitros_bridge_interfaces/package.xml

@@ -13,7 +13,7 @@ license agreement from NVIDIA CORPORATION is strictly prohibited.
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_nitros_bridge_interfaces</name>
-  <version>3.0.0</version>
+  <version>3.0.1</version>
   <description>Interfaces for Isaac ROS NITROS Bridge Msgs</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

isaac_ros_nova_interfaces/package.xml

@@ -13,7 +13,7 @@ license agreement from NVIDIA CORPORATION is strictly prohibited.
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_nova_interfaces</name>
-  <version>3.0.0</version>
+  <version>3.0.1</version>
   <description>Interfaces for Isaac ROS Nova</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

isaac_ros_pointcloud_interfaces/package.xml

@@ -13,7 +13,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_pointcloud_interfaces</name>
-  <version>3.0.0</version>
+  <version>3.0.1</version>
   <description>Pointcloud interfaces for Isaac ROS NITROS</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

isaac_ros_tensor_list_interfaces/package.xml

@@ -13,7 +13,7 @@ license agreement from NVIDIA CORPORATION is strictly prohibited.
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_tensor_list_interfaces</name>
-  <version>3.0.0</version>
+  <version>3.0.1</version>
   <description>Interfaces for Isaac ROS tensor list</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

isaac_ros_test/package.xml

@@ -13,7 +13,7 @@ license agreement from NVIDIA CORPORATION is strictly prohibited.
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_test</name>
-  <version>3.0.0</version>
+  <version>3.0.1</version>
   <description>Isaac ROS testing utilities</description>
 
   <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer>

scripts/build_image_layers.sh

@@ -22,6 +22,7 @@ function usage() {
 DOCKER_BUILDKIT=1
 IGNORE_COMPOSITE_KEYS=0
 ADDITIONAL_BUILD_ARGS=()
+ADDITIONAL_DOCKER_ARGS=()
 DOCKER_SEARCH_DIRS=(${DOCKER_DIR})
 SKIP_REGISTRY_CHECK=0
 BASE_DOCKER_REGISTRY_NAMES=("nvcr.io/isaac/ros")
@@ -54,7 +55,7 @@ if [ ${#CONFIG_DOCKER_SEARCH_DIRS[@]} -gt 0 ]; then
 fi
 
 # Parse command-line args
-VALID_ARGS=$(getopt -o hra:b:c:ki:n:u --long help,skip_registry_check,build_arg:,base_image:,context_dir:,disable_buildkit,image_key:,image_name:,ignore_composite_keys -- "$@")
+VALID_ARGS=$(getopt -o hra:b:c:ki:n:d: --long help,skip_registry_check,build_arg:,base_image:,context_dir:,disable_buildkit,image_key:,image_name:,ignore_composite_keys,docker_arg: -- "$@")
 eval set -- "$VALID_ARGS"
 while [ : ]; do
   case "$1" in
@@ -70,6 +71,10 @@ while [ : ]; do
         DOCKER_CONTEXT_DIR="$2"
         shift 2
         ;;
+    -d | --docker_arg)
+        ADDITIONAL_DOCKER_ARGS+=("$2")
+        shift 2
+        ;;
     -k | --disable_buildkit)
         DOCKER_BUILDKIT=0
         shift
@@ -129,6 +134,10 @@ for BUILD_ARG in "${ADDITIONAL_BUILD_ARGS[@]}"
 do
     print_info "Additional build arg: ${BUILD_ARG}"
 done
+for DOCKER_ARG in "${ADDITIONAL_DOCKER_ARGS[@]}"
+do
+    print_info "Additional docker arg: ${DOCKER_ARG}"
+done
 if [[ $DOCKER_BUILDKIT -eq 0 ]]; then
     print_warning "WARNING: Explicitly disabling BuildKit"
 fi
@@ -337,6 +346,7 @@ for (( i=${#DOCKERFILES[@]}-1 ; i>=0 ; i-- )); do
      -t ${IMAGE_NAME} \
      ${BASE_IMAGE_ARG} \
      "${BUILD_ARGS[@]}" \
+     "${ADDITIONAL_DOCKER_ARGS[@]}" \
      $@ \
      ${DOCKER_CONTEXT_ARG}
 done

scripts/docker_deploy.sh

@@ -35,7 +35,8 @@ INCLUDE_DIRS=()
 INCLUDE_TARBALLS=()
 SET_LAUNCH_CMD=0
 CUSTOM_APT_SOURCES=()
-VALID_ARGS=$(getopt -o w:d:b:n:s:f:p:i:t:a: --long ros_ws:include_dir:base_image_key:name:suffix_image_key:launch_file:launch_package:install_debians:include_tarball:custom_apt_source -- "$@")
+ADDITIONAL_DOCKER_ARGS=()
+VALID_ARGS=$(getopt -o w:d:b:n:s:f:p:i:t:a:c: --long ros_ws:,include_dir:,base_image_key:,name:,suffix_image_key:,launch_file:,launch_package:,install_debians:,include_tarball:,custom_apt_source:,docker_arg: -- "$@")
 eval set -- "$VALID_ARGS"
 while [ : ]; do
   case "$1" in
@@ -47,6 +48,10 @@ while [ : ]; do
         BASE_IMAGE_KEY="$2"
         shift 2
         ;;
+    -c | --docker_arg)
+        ADDITIONAL_DOCKER_ARGS+=("--docker_arg $2")        
+        shift 2        
+        ;;
     -d | --include_dir)
         INCLUDE_DIRS+=("$2")
         shift 2
@@ -164,6 +169,10 @@ for CUSTOM_APT_SOURCE in "${CUSTOM_APT_SOURCES[@]}"
 do
     print_info "Adding custom apt source: ${CUSTOM_APT_SOURCE}"
 done
+for DOCKER_ARG in "${ADDITIONAL_DOCKER_ARGS[@]}"
+do
+    print_info "Additional docker arg: ${DOCKER_ARG}"
+done
 print_info "Begin building deployable image"
 
 # Setup on-exit cleanup tasks
@@ -233,27 +242,27 @@ done
 
 # Build base image
 print_info "Building deploy base image: ${BASE_DEPLOY_IMAGE_NAME} with key ${BASE_IMAGE_KEY}"
-$ROOT/build_image_layers.sh --image_key "${BASE_IMAGE_KEY}" --image_name "${BASE_DEPLOY_IMAGE_NAME}" --build_arg "MODE=deploy"
+$ROOT/build_image_layers.sh --image_key "${BASE_IMAGE_KEY}" --image_name "${BASE_DEPLOY_IMAGE_NAME}" --build_arg "MODE=deploy" ${ADDITIONAL_DOCKER_ARGS[@]}
 
 # Install staged files and setup launch command
 print_info "Building install image with launch file ${LAUNCH_FILE} in package ${LAUNCH_PACKAGE}"
 $ROOT/build_image_layers.sh --image_key "deploy" --image_name "${INSTALLED_DEPLOY_IMAGE_NAME}" --base_image "${BASE_DEPLOY_IMAGE_NAME}" --context_dir "${TEMP_DIR}" \
-    --build_arg "MODE=deploy" --build_arg "SET_LAUNCH_CMD=${SET_LAUNCH_CMD}" --build_arg "LAUNCH_FILE=${LAUNCH_FILE}" --build_arg "LAUNCH_PACKAGE=${LAUNCH_PACKAGE}" --build_arg "INSTALL_DEBIANS_CSV=${INSTALL_DEBIANS_CSV}"
+    --build_arg "MODE=deploy" --build_arg "SET_LAUNCH_CMD=${SET_LAUNCH_CMD}" --build_arg "LAUNCH_FILE=${LAUNCH_FILE}" --build_arg "LAUNCH_PACKAGE=${LAUNCH_PACKAGE}" --build_arg "INSTALL_DEBIANS_CSV=${INSTALL_DEBIANS_CSV}" ${ADDITIONAL_DOCKER_ARGS[@]}
 
 # Optional, if ROS_WS, install rosdeps
 if [[ ! -z "${ROS_WS}" ]]; then
     print_info "Building ROS workspace image for path ${ROS_WS}"
     PREVIOUS_STAGE="${INSTALLED_DEPLOY_IMAGE_NAME}"
     INSTALLED_DEPLOY_IMAGE_NAME="${DEPLOY_IMAGE_NAME}-rosws"
-    $ROOT/build_image_layers.sh --image_key "deploy_ws" --image_name "${INSTALLED_DEPLOY_IMAGE_NAME}" --base_image "${PREVIOUS_STAGE}" --context_dir "${TEMP_DIR}" --build_arg "MODE=deploy ROS_WS=${ROS_WS_DEST}"
+    $ROOT/build_image_layers.sh --image_key "deploy_ws" --image_name "${INSTALLED_DEPLOY_IMAGE_NAME}" --base_image "${PREVIOUS_STAGE}" --context_dir "${TEMP_DIR}" --build_arg "MODE=deploy ROS_WS=${ROS_WS_DEST}" ${ADDITIONAL_DOCKER_ARGS[@]}
 fi
 
 # Optional, build suffix image if specified
 if [[ ! -z "${SUFFIX_IMAGE_KEY}" ]]; then
     print_info "Building suffix deploy image for key ${SUFFIX_IMAGE_KEY}"
     PREVIOUS_STAGE="${INSTALLED_DEPLOY_IMAGE_NAME}"
     INSTALLED_DEPLOY_IMAGE_NAME="${DEPLOY_IMAGE_NAME}-suffix"
-    $ROOT/build_image_layers.sh --image_key "SUFFIX_IMAGE_KEY" --image_name "${INSTALLED_DEPLOY_IMAGE_NAME}" --base_image "${PREVIOUS_STAGE}" --build_arg "MODE=deploy"
+    $ROOT/build_image_layers.sh --image_key "SUFFIX_IMAGE_KEY" --image_name "${INSTALLED_DEPLOY_IMAGE_NAME}" --base_image "${PREVIOUS_STAGE}" --build_arg "MODE=deploy" ${ADDITIONAL_DOCKER_ARGS[@]}
 fi
 
 # Retag last image