.ci/build_humble_bin.sh

@@ -0,0 +1,44 @@
+#!/bin/bash -ex
+
+pwd_path="$(pwd)"
+if [[ ${pwd_path:${#pwd_path}-3} == ".ci" ]] ; then cd .. && pwd_path="$(pwd)"; fi
+ttk="===>"
+WORKDIR=${pwd_path}
+PROJ_NAME=${PWD##*/}
+
+echo "${ttk} Root repository folder: ${WORKDIR}"
+echo "${ttk} Repository name: ${PROJ_NAME}"
+
+# Create the ROS 2 workspace
+echo "${ttk} Create ROS2 workspace"
+cd ..
+WS_DIR="$(pwd)"/ros2_ws
+rm -rf ${WS_DIR} # clean residual cache files
+mkdir -p ${WS_DIR}/src 
+echo "${ttk} ROS2 Workspace: ${WS_DIR}"
+cd ${WORKDIR}
+cd ..
+echo "cp -a ./${PROJ_NAME} ${WS_DIR}/src/"
+cp -a ./${PROJ_NAME} ${WS_DIR}/src/
+
+echo "${ttk} Check environment variables"
+env | grep ROS
+
+echo "${ttk} Update bin repositories"
+apt-get update || true
+apt-get upgrade --yes
+rosdep update
+
+echo "${ttk} Install ZED ROS2 Package dependencies"
+cd ${WS_DIR}
+rosdep install --from-paths src --ignore-src -r -y
+
+echo "${ttk} Build the ZED ROS2 Package"
+colcon build --cmake-args=-DCMAKE_BUILD_TYPE=Release --parallel-workers $(nproc)
+
+echo "${ttk} Prepare 'install' artifact"
+cd ${WS_DIR}
+mkdir -p ${WORKDIR}/ros2_ws
+cp -a ./install ${WORKDIR}/ros2_ws/
+
+cd ${WORKDIR}

.ci/download_and_install_sdk.sh

@@ -0,0 +1,23 @@
+#!/bin/bash
+set -e
+
+UBUNTU_RELEASE_YEAR=$1
+CUDA_MAJOR=$2
+CUDA_MINOR=$3
+ZED_SDK_MAJOR=$4
+ZED_SDK_MINOR=$5
+
+ttk="***>"
+
+echo "Europe/Paris" > /etc/localtime ; echo "CUDA Version ${CUDA_MAJOR}.${CUDA_MINOR}.0" > /usr/local/cuda/version.txt
+
+# Setup the ZED SDK
+echo "${ttk} Installing ZED SDK v${ZED_SDK_MAJOR}.${ZED_SDK_MINOR} for Ubuntu ${UBUNTU_RELEASE_YEAR}.04 CUDA ${CUDA_MAJOR}.${CUDA_MINOR}"
+apt-get update -y || true
+apt-get install --no-install-recommends lsb-release wget less udev sudo  build-essential cmake zstd python3 python3-pip libpng-dev libgomp1 -y && \
+    python3 -m pip install --upgrade pip; python3 -m pip install numpy opencv-python-headless && \
+    wget -q -O ZED_SDK_Linux_Ubuntu${UBUNTU_RELEASE_YEAR}.run https://download.stereolabs.com/zedsdk/${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}/cu${CUDA_MAJOR}${CUDA_MINOR%.*}/ubuntu${UBUNTU_RELEASE_YEAR} && \
+    chmod +x ZED_SDK_Linux_Ubuntu${UBUNTU_RELEASE_YEAR}.run ; ./ZED_SDK_Linux_Ubuntu${UBUNTU_RELEASE_YEAR}.run -- silent skip_tools skip_cuda skip_python skip_hub && \
+    ln -sf /lib/x86_64-linux-gnu/libusb-1.0.so.0 /usr/lib/x86_64-linux-gnu/libusb-1.0.so && \
+    rm ZED_SDK_Linux_Ubuntu${UBUNTU_RELEASE_YEAR}.run && \
+    rm -rf /var/lib/apt/lists/*

.ci/jetson_build_humble_src.sh

@@ -0,0 +1,76 @@
+#!/bin/bash -ex
+
+pwd_path="$(pwd)"
+if [[ ${pwd_path:${#pwd_path}-3} == ".ci" ]] ; then cd .. && pwd_path="$(pwd)"; fi
+ttk="===>"
+WORKDIR=${pwd_path}
+PROJ_NAME=${PWD##*/}
+
+echo "${ttk} Root repository folder: ${WORKDIR}"
+echo "${ttk} Repository name: ${PROJ_NAME}"
+echo "${ttk} User: ${USER}"
+
+# Set timezone
+TZ=Europe/Paris
+ln -snf /usr/share/zoneinfo/${TZ} /etc/localtime && echo ${TZ} > /etc/timezone
+
+# Create the ROS 2 workspace
+echo "${ttk} Create ROS2 workspace"
+cd ..
+WS_DIR="$(pwd)"/ros2_ws
+rm -rf ${WS_DIR} # clean residual cached files
+mkdir -p ${WS_DIR}/src 
+echo "${ttk} ROS2 Workspace: ${WS_DIR}"
+
+echo "${ttk} Check environment variables"
+env | grep ROS
+
+echo "${ttk} Install missing ZED ROS2 Package dependencies from the sources"
+cd ${WS_DIR}/src
+apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 42D5A192B819C5DA
+# xacro
+XACRO_VERSION=2.0.8
+wget https://github.com/ros/xacro/archive/refs/tags/${XACRO_VERSION}.tar.gz -O - | tar -xvz && mv xacro-${XACRO_VERSION} xacro
+# Diagnostic
+DIAGNOSTICS_VERSION=3.0.0
+wget https://github.com/ros/diagnostics/archive/refs/tags/${DIAGNOSTICS_VERSION}.tar.gz -O - | tar -xvz && mv diagnostics-${DIAGNOSTICS_VERSION} diagnostics
+# lint
+AMENT_LINT_VERSION=0.12.7
+wget https://github.com/ament/ament_lint/archive/refs/tags/${AMENT_LINT_VERSION}.tar.gz -O - | tar -xvz && mv ament_lint-${AMENT_LINT_VERSION} ament-lint
+# Geographic Info
+GEOGRAPHIC_INFO_VERSION=1.0.4
+wget https://github.com/ros-geographic-info/geographic_info/archive/refs/tags/${GEOGRAPHIC_INFO_VERSION}.tar.gz -O - | tar -xvz && mv geographic_info-${GEOGRAPHIC_INFO_VERSION} geographic-info
+cp -r geographic-info/geographic_msgs/ .
+rm -rf geographic-info
+# Robot Localization
+ROBOT_LOCALIZATION_VERSION=3.4.2
+wget https://github.com/cra-ros-pkg/robot_localization/archive/refs/tags/${ROBOT_LOCALIZATION_VERSION}.tar.gz -O - | tar -xvz && mv robot_localization-${ROBOT_LOCALIZATION_VERSION} robot-localization
+# NMEA msgs
+git clone https://github.com/ros-drivers/nmea_msgs.git --branch ros2
+# Angles
+git clone https://github.com/ros/angles.git --branch humble-devel
+
+echo "${ttk} Copy the ZED ROS2 Package sources in the workspace"
+cd ${WORKDIR}
+cd ..
+echo "cp -a ./${PROJ_NAME} ${WS_DIR}/src/"
+cp -a ./${PROJ_NAME} ${WS_DIR}/src/
+
+echo "${ttk} Check that all the dependencies are satisfied"
+cd ${WS_DIR}
+apt-get update -y || true && rosdep update
+rosdep install --from-paths src --ignore-src -r -y
+
+# force install cython to make sure all pacakges are clean
+python3 -m pip install --force-reinstall cython
+
+echo "${ttk} Build the ZED ROS2 Package and the dependencies"
+cd ${WS_DIR}
+colcon build --cmake-args ' -DCMAKE_BUILD_TYPE=Release' ' -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs' ' -DCMAKE_CXX_FLAGS="-Wl,--allow-shlib-undefined"' ' --no-warn-unused-cli' --parallel-workers $(nproc)
+
+echo "${ttk} Prepare 'install' artifact"
+cd ${WS_DIR}
+mkdir -p ${WORKDIR}/ros2_ws
+cp -a ./install ${WORKDIR}/ros2_ws/
+
+cd ${WORKDIR}

.ci/jetson_download_and_install_sdk.sh

@@ -0,0 +1,28 @@
+#!/bin/bash
+set -e
+
+JETPACK_MAJOR=$1
+JETPACK_MINOR=$2
+L4T_MAJOR=$3
+L4T_MINOR=$4
+ZED_SDK_MAJOR=$5
+ZED_SDK_MINOR=$6
+
+ttk="***>"
+
+echo "Europe/Paris" > /etc/timezone
+echo "# R${L4T_MAJOR} (release), REVISION: ${L4T_MINOR}" > /etc/nv_tegra_release
+
+#Install ZED SDK
+echo "${ttk} Installing ZED SDK v${ZED_SDK_MAJOR}.${ZED_SDK_MINOR} for Jetpack ${JETPACK_MAJOR}.${JETPACK_MINOR} (L4T v${L4T_MAJOR}.${L4T_MINOR})"
+apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 42D5A192B819C5DA
+apt-get update -y || true
+apt-get install -y --no-install-recommends zstd wget less cmake curl gnupg2 \
+    build-essential python3 python3-pip python3-dev python3-setuptools libusb-1.0-0-dev -y && \
+    pip install protobuf && \
+    wget -q --no-check-certificate -O ZED_SDK_Linux_JP.run \
+    https://download.stereolabs.com/zedsdk/${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}/l4t${L4T_MAJOR}.${L4T_MINOR}/jetsons && \
+    chmod +x ZED_SDK_Linux_JP.run ; ./ZED_SDK_Linux_JP.run silent skip_tools && \
+    rm -rf /usr/local/zed/resources/* && \
+    rm -rf ZED_SDK_Linux_JP.run && \
+    rm -rf /var/lib/apt/lists/*

.ci/run_build_in_humble.sh

@@ -0,0 +1,70 @@
+#!/bin/bash -e
+
+ZED_SDK_MAJOR=4
+ZED_SDK_MINOR=1
+
+# Retrieve CUDA version from environment variable CUDA_VERSION
+CUDA_MAJOR=`echo ${CUDA_VERSION} | cut -d. -f1`
+CUDA_MINOR=`echo ${CUDA_VERSION} | cut -d. -f2`
+
+pwd_path="$(pwd)"
+if [[ ${pwd_path:${#pwd_path}-3} == ".ci" ]] ; then cd .. && pwd_path="$(pwd)"; fi
+ttk="---> "
+ROOT_PATH=${pwd_path}
+REPO_NAME=${PWD##*/}
+
+echo "${ttk} Root repository folder: ${ROOT_PATH}"
+echo "${ttk} Repository name: ${REPO_NAME}"
+#echo "${ttk} User: ${USER}"
+
+sudocmd=""
+if  [[ ! $(uname) == "MINGW"* ]]; then
+	LINUX_OS=1
+    if  [[ ! ${CI_RUNNER_TAGS} == *"docker-builder"* ]]; then
+	    sudocmd="sudo "
+    fi
+fi
+
+${sudocmd} chmod +x .ci/*.sh
+
+#the . command.sh syntaxe allows env var to be accessible cross-scripts (needed for timers)
+
+# Check Ubuntu version
+ubuntu=$(lsb_release -r)
+echo "${ttk} Ubuntu $ubuntu"
+VER=$(cut -f2 <<< "$ubuntu")
+echo "${ttk} Version: ${VER}"
+
+# Build the node
+cd "${ROOT_PATH}"
+ARCH=$(uname -m)
+echo "${ttk} Architecture: ${ARCH}"
+if [[ $ARCH == "x86_64" ]]; then     
+    if [[ $VER == "20.04" ]]; then 
+        echo "${ttk} Install the ZED SDK for ${ARCH} under Ubuntu ${VER}"
+        . .ci/download_and_install_sdk.sh 20 ${CUDA_MAJOR} ${CUDA_MINOR} ${ZED_SDK_MAJOR} ${ZED_SDK_MINOR}
+        echo "${ttk} Build ROS2 Humble from the source."    
+        . .ci/build_humble_src.sh    
+    fi
+    if [[ $VER == "22.04" ]]; then 
+        echo "${ttk} Install the ZED SDK for ${ARCH} under Ubuntu ${VER}"
+        . .ci/download_and_install_sdk.sh 22 ${CUDA_MAJOR} ${CUDA_MINOR} ${ZED_SDK_MAJOR} ${ZED_SDK_MINOR}
+        echo "${ttk} Install ROS2 Humble from the binaries."
+        . .ci/build_humble_bin.sh
+    fi
+elif [[ $ARCH == "aarch64" ]]; then 
+if [[ $VER == "20.04" ]]; then 
+        JP_MAJOR=5
+        JP_MINOR=0
+        L4T_MAJOR=35
+        L4T_MINOR=1
+        echo "${ttk} Install the ZED SDK for ${ARCH} under Ubuntu ${VER}"
+        . .ci/jetson_download_and_install_sdk.sh ${JP_MAJOR} ${JP_MINOR} ${L4T_MAJOR} ${L4T_MINOR} ${ZED_SDK_MAJOR} ${ZED_SDK_MINOR}
+        echo "${ttk} Build ROS2 Humble from the source."    
+        . .ci/jetson_build_humble_src.sh    
+    fi
+else
+    echo "${ttk} Architecture ${ARCH} is not supported."
+    exit 1
+fi
+if [ $? -ne 0 ]; then echo "${ttk} ROS2 Node build failed" > "$pwd_path/failure.txt" ; cat "$pwd_path/failure.txt" ; exit 1 ; fi

.ci/run_tests.sh

@@ -0,0 +1,36 @@
+#!/bin/bash
+set -e
+
+ttk='--->'
+WORKDIR=$(pwd)
+
+#echo "${ttk} WORKDIR (${WORKDIR})content"
+#ls -lah ${WORKDIR}
+
+echo "${ttk} Check artifact presence"
+ls -lah ../ros2_ws/install
+
+#ls -lah /builds/sl/ros2_ws/install/zed_msgs/share/zed_msgs/
+#ls -lah /builds/sl/ros2_ws/install/zed_components/share/zed_components/
+#ls -lah /builds/sl/ros2_ws/install/zed_wrapper/share/zed_wrapper/
+#ls -lah /builds/sl/ros2_ws/install/zed_ros2/share/zed_ros2/
+
+echo "${ttk} Initialize local ROS2 environment"
+cd ${WORKDIR}
+source ../ros2_ws/install/local_setup.bash
+env | grep COLCON
+env | grep ROS
+
+echo "${ttk} Check ROS2 installation"
+ros2 doctor -r
+
+echo "${ttk} Check ZED ROS2 packages presence"
+ros2 pkg list | grep zed
+
+echo "${ttk} USB peripherals"
+lsusb | grep 2b03
+
+echo "${ttk} Test node running for 10 seconds"
+timeout --signal=SIGTERM 10 ros2 launch zed_wrapper zed2.launch.py
+
+exit 0

.github/ISSUE_TEMPLATE/1_feature_request.yml

@@ -0,0 +1,43 @@
+name: Feature request 🧭
+description: Suggest an idea for this project.
+labels: "feature_request"
+body:
+  - type: markdown
+    attributes:
+      value: |
+        # Welcome 👋 
+
+        Thanks for taking the time to fill out this feature request module.
+        Please fill out each section below. This info allows Stereolabs developers to correctly evaluate your request.
+
+        Useful Links:
+        - Documentation: https://www.stereolabs.com/docs/
+        - Stereolabs support: https://support.stereolabs.com/hc/en-us/
+  - type: checkboxes
+    attributes:
+      label: Preliminary Checks
+      description: Please make sure that you verify each checkbox and follow the instructions for them.
+      options:
+        - label: "This issue is not a duplicate. Before opening a new issue, please search existing issues."
+          required: true
+        - label: "This issue is not a question, bug report, or anything other than a feature request directly related to this project."
+          required: true
+  - type: textarea
+    attributes:
+      label: Proposal
+      description: "What would you like to have as a new feature?"
+      placeholder: "A clear and concise description of what you want to happen."
+    validations:
+      required: true
+  - type: textarea
+    attributes:
+      label: Use-Case
+      description: "How would this help you?"
+      placeholder: "Tell us more what you'd like to achieve."
+    validations:
+      required: false
+  - type: textarea
+    id: anything-else
+    attributes:
+      label: Anything else?
+      description: "Let us know if you have anything else to share"