ROS2 Humble application lidar data not working properly in container environment

[bahademircioglu]

Description
We are running a ROS2 Humble-based application locally, and it works as expected. However, when running the same application inside a container with all dependencies installed, lidar data does not function correctly.

After troubleshooting, we found a workaround:

Run apt remove ros-humble-pcl-* inside the container.
Run apt install ros-humble-pcl-* immediately after.
After performing these commands, the previously non-functional lidar packages start working as expected. Unfortunately, this process has to be repeated every time the container is restarted.

Expected Behavior
Lidar data should work correctly in the container without needing to reinstall ros-humble-pcl-* packages after each container restart.

Current Behavior
Lidar data does not work correctly inside the container until the ros-humble-pcl-* packages are reinstalled.

Environment
ROS2 Distribution: Humble
Container Base Image: nvidia/cuda:12.2.0-base-ubuntu22.04
Host OS: Ubuntu 22.04

[Rayman]

The packages in your base image might be out of date. You could run a apt-get upgrade -y when you build your container to upgrade them to the latest version

[mvieth]

@bahademircioglu What do you mean with "does not work correctly"? Is there a compile error? Or an error when you run the program? Is there an error message? Does the program crash or just not produce the expected output?

[bahademircioglu]

@mvieth We are developing an application for fully autonomous vehicle operation and are trying to run it in a containerized environment. Most of our topics and nodes are working properly, except for some lidar-related topics/nodes. The lidar data doesn't appear in RViz2, and we can't see the corresponding topics.

Locally, we resolved most issues by fixing package versions to specific versions. However, as Rayman suggested, I'll try updating everything to the latest versions to see if that resolves the issue.