Add vendor packages for onnxruntime and onnxruntime-gpu

.devcontainer/Dockerfile

@@ -104,4 +104,3 @@ USER $USERNAME
 
 # Source ROS in user's bashrc
 RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/$USERNAME/.bashrc
-

onnxruntime_gpu_vendor/CMakeLists.txt

@@ -0,0 +1,94 @@
+# Copyright (c) 2025-present WATonomous. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+cmake_minimum_required(VERSION 3.8)
+project(onnxruntime_gpu_vendor VERSION 1.22.0)
+
+find_package(ament_cmake REQUIRED)
+
+set(ONNXRUNTIME_VERSION "${PROJECT_VERSION}")
+set(ONNXRUNTIME_URL
+  "https://github.com/microsoft/onnxruntime/releases/download/v${ONNXRUNTIME_VERSION}/onnxruntime-linux-x64-gpu-${ONNXRUNTIME_VERSION}.tgz"
+)
+set(ONNXRUNTIME_DOWNLOAD_DIR "${CMAKE_CURRENT_BINARY_DIR}/onnxruntime-download")
+set(ONNXRUNTIME_EXTRACT_DIR "${CMAKE_CURRENT_BINARY_DIR}/onnxruntime-linux-x64-gpu-${ONNXRUNTIME_VERSION}")
+
+# Download and extract ONNX Runtime GPU
+if(NOT EXISTS "${ONNXRUNTIME_EXTRACT_DIR}")
+  message(STATUS "Downloading ONNX Runtime GPU ${ONNXRUNTIME_VERSION}...")
+  file(DOWNLOAD
+    ${ONNXRUNTIME_URL}
+    "${ONNXRUNTIME_DOWNLOAD_DIR}/onnxruntime-gpu.tgz"
+    SHOW_PROGRESS
+    STATUS DOWNLOAD_STATUS
+  )
+
+  list(GET DOWNLOAD_STATUS 0 DOWNLOAD_RESULT)
+  if(NOT DOWNLOAD_RESULT EQUAL 0)
+    message(FATAL_ERROR "Failed to download ONNX Runtime GPU")
+  endif()
+
+  message(STATUS "Extracting ONNX Runtime GPU...")
+  execute_process(
+    COMMAND ${CMAKE_COMMAND} -E tar xzf "${ONNXRUNTIME_DOWNLOAD_DIR}/onnxruntime-gpu.tgz"
+    WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+    RESULT_VARIABLE EXTRACT_RESULT
+  )
+
+  if(NOT EXTRACT_RESULT EQUAL 0)
+    message(FATAL_ERROR "Failed to extract ONNX Runtime GPU")
+  endif()
+endif()
+
+# Install headers
+install(
+  DIRECTORY "${ONNXRUNTIME_EXTRACT_DIR}/include/"
+  DESTINATION include
+)
+
+# Install libraries
+install(
+  DIRECTORY "${ONNXRUNTIME_EXTRACT_DIR}/lib/"
+  DESTINATION lib
+  PATTERN "*.a" EXCLUDE
+)
+
+# Create an interface library for users to link against
+add_library(onnxruntime_gpu_lib INTERFACE)
+target_include_directories(onnxruntime_gpu_lib INTERFACE
+  $<BUILD_INTERFACE:${ONNXRUNTIME_EXTRACT_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+)
+target_link_libraries(onnxruntime_gpu_lib INTERFACE
+  $<BUILD_INTERFACE:${ONNXRUNTIME_EXTRACT_DIR}/lib/libonnxruntime.so>
+  $<BUILD_INTERFACE:${ONNXRUNTIME_EXTRACT_DIR}/lib/libonnxruntime_providers_cuda.so>
+  $<BUILD_INTERFACE:${ONNXRUNTIME_EXTRACT_DIR}/lib/libonnxruntime_providers_shared.so>
+  $<INSTALL_INTERFACE:${CMAKE_INSTALL_PREFIX}/lib/libonnxruntime.so>
+  $<INSTALL_INTERFACE:${CMAKE_INSTALL_PREFIX}/lib/libonnxruntime_providers_cuda.so>
+  $<INSTALL_INTERFACE:${CMAKE_INSTALL_PREFIX}/lib/libonnxruntime_providers_shared.so>
+)
+
+# Export the target
+install(
+  TARGETS onnxruntime_gpu_lib
+  EXPORT ${PROJECT_NAME}
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
+ament_export_targets(${PROJECT_NAME} HAS_LIBRARY_TARGET)
+ament_export_dependencies()
+
+ament_package()

onnxruntime_gpu_vendor/README.md

@@ -0,0 +1,36 @@
+# onnxruntime_gpu_vendor
+
+ROS2 vendor package for ONNX Runtime (GPU/CUDA/TensorRT)
+
+## Usage
+
+### Package.xml
+
+```xml
+<depend>onnxruntime_gpu_vendor</depend>
+```
+
+### CMakeLists.txt
+
+```cmake
+find_package(onnxruntime_gpu_vendor REQUIRED)
+
+add_executable(my_node src/my_node.cpp)
+target_link_libraries(my_node
+  onnxruntime_gpu_vendor::onnxruntime_gpu_lib
+)
+```
+
+### C++ Code
+
+```cpp
+#include <onnxruntime_cxx_api.h>
+
+Ort::Env env(ORT_LOGGING_LEVEL_WARNING, "my_app");
+Ort::SessionOptions session_options;
+
+// Optional: Enable CUDA
+OrtCUDAProviderOptions cuda_options;
+cuda_options.device_id = 0;
+session_options.AppendExecutionProvider_CUDA(cuda_options);
+```

onnxruntime_gpu_vendor/package.xml

@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>onnxruntime_gpu_vendor</name>
+  <version>1.22.0</version>
+  <description>Vendor package for ONNX Runtime (GPU/CUDA)</description>
+  <maintainer email="hello@watonomous.ca">WATonomous</maintainer>
+  <license>MIT</license>    <!-- ORT License -->
+  <license>Apache 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

onnxruntime_vendor/CMakeLists.txt

@@ -0,0 +1,90 @@
+# Copyright (c) 2025-present WATonomous. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+cmake_minimum_required(VERSION 3.8)
+project(onnxruntime_vendor VERSION 1.22.0)
+
+find_package(ament_cmake REQUIRED)
+
+set(ONNXRUNTIME_VERSION "${PROJECT_VERSION}")
+set(ONNXRUNTIME_URL
+  "https://github.com/microsoft/onnxruntime/releases/download/v${ONNXRUNTIME_VERSION}/onnxruntime-linux-x64-${ONNXRUNTIME_VERSION}.tgz"
+)
+set(ONNXRUNTIME_DOWNLOAD_DIR "${CMAKE_CURRENT_BINARY_DIR}/onnxruntime-download")
+set(ONNXRUNTIME_EXTRACT_DIR "${CMAKE_CURRENT_BINARY_DIR}/onnxruntime-linux-x64-${ONNXRUNTIME_VERSION}")
+
+# Download and extract ONNX Runtime
+if(NOT EXISTS "${ONNXRUNTIME_EXTRACT_DIR}")
+  message(STATUS "Downloading ONNX Runtime ${ONNXRUNTIME_VERSION}...")
+  file(DOWNLOAD
+    ${ONNXRUNTIME_URL}
+    "${ONNXRUNTIME_DOWNLOAD_DIR}/onnxruntime.tgz"
+    SHOW_PROGRESS
+    STATUS DOWNLOAD_STATUS
+  )
+
+  list(GET DOWNLOAD_STATUS 0 DOWNLOAD_RESULT)
+  if(NOT DOWNLOAD_RESULT EQUAL 0)
+    message(FATAL_ERROR "Failed to download ONNX Runtime")
+  endif()
+
+  message(STATUS "Extracting ONNX Runtime...")
+  execute_process(
+    COMMAND ${CMAKE_COMMAND} -E tar xzf "${ONNXRUNTIME_DOWNLOAD_DIR}/onnxruntime.tgz"
+    WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+    RESULT_VARIABLE EXTRACT_RESULT
+  )
+
+  if(NOT EXTRACT_RESULT EQUAL 0)
+    message(FATAL_ERROR "Failed to extract ONNX Runtime")
+  endif()
+endif()
+
+# Install headers
+install(
+  DIRECTORY "${ONNXRUNTIME_EXTRACT_DIR}/include/"
+  DESTINATION include
+)
+
+# Install libraries
+install(
+  DIRECTORY "${ONNXRUNTIME_EXTRACT_DIR}/lib/"
+  DESTINATION lib
+  PATTERN "*.a" EXCLUDE
+)
+
+# Create an interface library for users to link against
+add_library(onnxruntime_lib INTERFACE)
+target_include_directories(onnxruntime_lib INTERFACE
+  $<BUILD_INTERFACE:${ONNXRUNTIME_EXTRACT_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+)
+target_link_libraries(onnxruntime_lib INTERFACE
+  $<BUILD_INTERFACE:${ONNXRUNTIME_EXTRACT_DIR}/lib/libonnxruntime.so>
+  $<INSTALL_INTERFACE:${CMAKE_INSTALL_PREFIX}/lib/libonnxruntime.so>
+)
+
+# Export the target
+install(
+  TARGETS onnxruntime_lib
+  EXPORT ${PROJECT_NAME}
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
+ament_export_targets(${PROJECT_NAME} HAS_LIBRARY_TARGET)
+ament_export_dependencies()
+
+ament_package()

onnxruntime_vendor/README.md

@@ -0,0 +1,32 @@
+# onnxruntime_vendor
+
+ROS2 vendor package for ONNX Runtime (CPU)
+
+## Usage
+
+### Package.xml
+
+```xml
+<depend>onnxruntime_vendor</depend>
+```
+
+### CMakeLists.txt
+
+```cmake
+find_package(onnxruntime_vendor REQUIRED)
+
+add_executable(my_node src/my_node.cpp)
+target_link_libraries(my_node
+  onnxruntime_vendor::onnxruntime_lib
+)
+```
+
+### C++ Code
+
+```cpp
+#include <onnxruntime_cxx_api.h>
+
+Ort::Env env(ORT_LOGGING_LEVEL_WARNING, "my_app");
+Ort::SessionOptions session_options;
+// Load model, run inference...
+```

onnxruntime_vendor/package.xml

@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>onnxruntime_vendor</name>
+  <version>1.22.0</version>
+  <description>Vendor package for ONNX Runtime (CPU)</description>
+  <maintainer email="hello@watonomous.ca">WATonomous</maintainer>
+  <license>MIT</license>    <!-- ORT License -->
+  <license>Apache 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>