Manually creating a ROS2 Foxy Docker image for the NVIDIA Jetson TX2 with Triton Pipeline

Requirements

• NVIDIA Jetson TX2 flashed to the correct version according to the guide on our Wiki
• Ethernet Cable (or go through the hassle of connecting the TX2 to WiFi)

Important Note

This is intended to document the process of how the Docker image is created. This process should realistically be automated with Dockerfile.

Instructions (will be updated to contain the exact steps needed, only a rough idea now)

• Get the base ros2 foxy container from here: https://github.com/dusty-nv/jetson-containers. Get this version: dustynv/ros:foxy-ros-base-l4t-r32.7.1.
• Run the container
• Follow these instructions from Kevin Huang:

1. sudo apt install libssl-dev qtbase5-dev libboost-all-devbuild cmake from source: https://github.com/Kitware/CMake/releases/download/v3.23.0-rc5/cmake-3.23.0-rc5.tar.gz
2. run ./bootstrap.sh, after its done do make && sudo make install
3. do exec bash to reload shell before next part
4. go into /opt/rosy/foxy/src, clone the following repos (make sure to always use the foxy or foxy-devel branch, or ros2 branch if foxy branch isn't there):

https://github.com/ros-drivers/phidgets_drivers
https://github.com/ros-perception/image_common
https://github.com/ros-perception/vision_opencv
https://github.com/ros-perception/image_transport_plugins
https://github.com/ros-drivers/usb_cam
https://github.com/ros/diagnostics
https://github.com/CCNYRoboticsLab/imu_tools.git (touch rviz_imu_plugin/COLCON_IGNORE)

5. run colcon build --symlink-install --merge-install again from /opt/ros/foxy to build new libraries
6. setup usb rule for imu :sudo cp ~/colcon_ws/src/phidgets_drivers/phidgets_api/debian/udev /etc/udev/rules.d/99-phidgets.rules
7. sudo udevadm control --reload-rules

• Update the Kitware repo keyring if apt complains:

sudo rm /usr/share/keyrings/kitware-archive-keyring.gpg
sudo apt-get install kitware-archive-keyring

• Install the Intel RealSense library and ROS Wrapper (use Option 1 and Jetson in Step 2): https://github.com/IntelRealSense/realsense-ros#installation-instructions, https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md
• • When running rosdep, use this modified command to skip xacro which is only important for Gazebo: rosdep install -i --from-path src --rosdistro $ROS_DISTRO --skip-keys "librealsense2 xacro" -y, according to this https://github.com/IntelRealSense/realsense-ros/issues/2309
• Follow the triton readme installation guide, skipping Gazebo installation and use colcon build --packages-skip triton_gazebo to skip Gazebo.