From a80b4ba575b9f6b382f10cd13258f4faa369df42 Mon Sep 17 00:00:00 2001 From: rtarun1 Date: Tue, 29 Jul 2025 16:01:11 +0530 Subject: [PATCH 1/4] changed realsense clone methods --- ROS2/AMD64x86/wheelchair2_base/Dockerfile | 2 +- ROS2/AMD64x86/wheelchair2_base_gazebo/Dockerfile | 6 ++++-- ROS2/Jetson/wheelchair2_base_jetson/Dockerfile | 2 +- 3 files changed, 6 insertions(+), 4 deletions(-) diff --git a/ROS2/AMD64x86/wheelchair2_base/Dockerfile b/ROS2/AMD64x86/wheelchair2_base/Dockerfile index b450fa3..1660170 100644 --- a/ROS2/AMD64x86/wheelchair2_base/Dockerfile +++ b/ROS2/AMD64x86/wheelchair2_base/Dockerfile @@ -77,7 +77,7 @@ RUN sudo apt-get update \ RUN echo 'export TERM="xterm-256color"' | sudo tee -a ~/.bashrc > /dev/null && \ echo "export PS1='\\[\\033[01;32m\\]\\u@\\h:\\[\\033[01;34m\\]\\w\\$\\[\\033[00m\\] '" | sudo tee -a ~/.bashrc > /dev/null -COPY .tmux.conf /home/wheelchair2/.tmux.conf +COPY .tmux.conf /home/$USERNAME/.tmux.conf # Environment variable for map folder ENV MAP_DIR=/home/$USERNAME/wheelchair2/src/wheelchair2_navigation/maps \ No newline at end of file diff --git a/ROS2/AMD64x86/wheelchair2_base_gazebo/Dockerfile b/ROS2/AMD64x86/wheelchair2_base_gazebo/Dockerfile index dcda932..72364c2 100644 --- a/ROS2/AMD64x86/wheelchair2_base_gazebo/Dockerfile +++ b/ROS2/AMD64x86/wheelchair2_base_gazebo/Dockerfile @@ -35,7 +35,7 @@ RUN sudo apt-get update \ # Build and install Realsense-SDK WORKDIR /home/$USERNAME -RUN git clone --depth=1 --progress --verbose --branch v2.56.2 https://github.com/IntelRealSense/librealsense.git +RUN git clone --branch v2.56.2 https://github.com/IntelRealSense/librealsense.git WORKDIR /home/$USERNAME/librealsense RUN sudo mkdir -p /etc/udev/rules.d && \ ./scripts/setup_udev_rules.sh \ @@ -44,6 +44,8 @@ RUN mkdir build && cd build \ && cmake ../ \ && sudo make uninstall && make clean && make && sudo make install + + # Build and install Livox-SDK2 WORKDIR /home/$USERNAME RUN git clone --depth=1 --progress --verbose https://github.com/rtarun1/Livox-SDK2.git @@ -106,7 +108,7 @@ RUN sudo apt-get update \ RUN echo 'export TERM="xterm-256color"' | sudo tee -a ~/.bashrc > /dev/null && \ echo "export PS1='\\[\\033[01;32m\\]\\u@\\h:\\[\\033[01;34m\\]\\w\\$\\[\\033[00m\\] '" | sudo tee -a ~/.bashrc > /dev/null -COPY .tmux.conf /home/wheelchair2/.tmux.conf +COPY .tmux.conf /home/$USERNAME/.tmux.conf # Environment variable for map folder ENV MAP_DIR=/home/$USERNAME/wheelchair2/src/wheelchair2_navigation/maps \ No newline at end of file diff --git a/ROS2/Jetson/wheelchair2_base_jetson/Dockerfile b/ROS2/Jetson/wheelchair2_base_jetson/Dockerfile index 22aa220..6f3ea1f 100644 --- a/ROS2/Jetson/wheelchair2_base_jetson/Dockerfile +++ b/ROS2/Jetson/wheelchair2_base_jetson/Dockerfile @@ -77,7 +77,7 @@ RUN sudo apt-get update \ RUN echo 'export TERM="xterm-256color"' | sudo tee -a ~/.bashrc > /dev/null && \ echo "export PS1='\\[\\033[01;32m\\]\\u@\\h:\\[\\033[01;34m\\]\\w\\$\\[\\033[00m\\] '" | sudo tee -a ~/.bashrc > /dev/null -COPY .tmux.conf /home/wheelchair2/.tmux.conf +COPY .tmux.conf /home/$USERNAME/.tmux.conf # Environment variable for map folder ENV MAP_DIR=/home/$USERNAME/wheelchair2/src/wheelchair2_navigation/maps \ No newline at end of file From 0a45d854c8651608b33f12516fbcb3e9d4812e73 Mon Sep 17 00:00:00 2001 From: rtarun1 Date: Tue, 29 Jul 2025 16:06:40 +0530 Subject: [PATCH 2/4] added python deps --- ROS2/AMD64x86/wheelchair2_base_gazebo/pythonPkgs.list | 5 ++++- ROS2/Jetson/wheelchair2_base_jetson/pythonPkgs.list | 5 ++++- 2 files changed, 8 insertions(+), 2 deletions(-) diff --git a/ROS2/AMD64x86/wheelchair2_base_gazebo/pythonPkgs.list b/ROS2/AMD64x86/wheelchair2_base_gazebo/pythonPkgs.list index db2693b..c2519b0 100644 --- a/ROS2/AMD64x86/wheelchair2_base_gazebo/pythonPkgs.list +++ b/ROS2/AMD64x86/wheelchair2_base_gazebo/pythonPkgs.list @@ -1,2 +1,5 @@ casadi -open3d \ No newline at end of file +open3d +"numpy<2" +"opencv-python<=4.10" +"ultralytics==8.3.168" \ No newline at end of file diff --git a/ROS2/Jetson/wheelchair2_base_jetson/pythonPkgs.list b/ROS2/Jetson/wheelchair2_base_jetson/pythonPkgs.list index db2693b..c2519b0 100644 --- a/ROS2/Jetson/wheelchair2_base_jetson/pythonPkgs.list +++ b/ROS2/Jetson/wheelchair2_base_jetson/pythonPkgs.list @@ -1,2 +1,5 @@ casadi -open3d \ No newline at end of file +open3d +"numpy<2" +"opencv-python<=4.10" +"ultralytics==8.3.168" \ No newline at end of file From 463ead2645d023d96b8a203b1374859cf3eb2de8 Mon Sep 17 00:00:00 2001 From: rtarun1 Date: Sat, 2 Aug 2025 02:59:22 +0530 Subject: [PATCH 3/4] added miniconda --- ROS2/AMD64x86/wheelchair2_base/Dockerfile | 11 ++++++++++- ROS2/AMD64x86/wheelchair2_base/pythonPkgs.list | 1 - ROS2/AMD64x86/wheelchair2_base_gazebo/Dockerfile | 12 +++++++++++- .../AMD64x86/wheelchair2_base_gazebo/pythonPkgs.list | 6 +----- ROS2/Jetson/wheelchair2_base_jetson/Dockerfile | 11 ++++++++++- ROS2/Jetson/wheelchair2_base_jetson/pythonPkgs.list | 6 +----- 6 files changed, 33 insertions(+), 14 deletions(-) diff --git a/ROS2/AMD64x86/wheelchair2_base/Dockerfile b/ROS2/AMD64x86/wheelchair2_base/Dockerfile index 1660170..e3def90 100644 --- a/ROS2/AMD64x86/wheelchair2_base/Dockerfile +++ b/ROS2/AMD64x86/wheelchair2_base/Dockerfile @@ -80,4 +80,13 @@ RUN echo 'export TERM="xterm-256color"' | sudo tee -a ~/.bashrc > /dev/null && \ COPY .tmux.conf /home/$USERNAME/.tmux.conf # Environment variable for map folder -ENV MAP_DIR=/home/$USERNAME/wheelchair2/src/wheelchair2_navigation/maps \ No newline at end of file +ENV MAP_DIR=/home/$USERNAME/wheelchair2/src/wheelchair2_navigation/maps + +#Install Miniconda +RUN mkdir -p ~/miniconda3 && \ + wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda3/miniconda.sh && \ + bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3 && \ + rm ~/miniconda3/miniconda.sh && \ + source ~/miniconda3/bin/activate && \ + conda init --all && \ + conda config --set auto_activate_base false \ No newline at end of file diff --git a/ROS2/AMD64x86/wheelchair2_base/pythonPkgs.list b/ROS2/AMD64x86/wheelchair2_base/pythonPkgs.list index db2693b..ab869e9 100644 --- a/ROS2/AMD64x86/wheelchair2_base/pythonPkgs.list +++ b/ROS2/AMD64x86/wheelchair2_base/pythonPkgs.list @@ -1,2 +1 @@ -casadi open3d \ No newline at end of file diff --git a/ROS2/AMD64x86/wheelchair2_base_gazebo/Dockerfile b/ROS2/AMD64x86/wheelchair2_base_gazebo/Dockerfile index 72364c2..887df23 100644 --- a/ROS2/AMD64x86/wheelchair2_base_gazebo/Dockerfile +++ b/ROS2/AMD64x86/wheelchair2_base_gazebo/Dockerfile @@ -111,4 +111,14 @@ RUN echo 'export TERM="xterm-256color"' | sudo tee -a ~/.bashrc > /dev/null && \ COPY .tmux.conf /home/$USERNAME/.tmux.conf # Environment variable for map folder -ENV MAP_DIR=/home/$USERNAME/wheelchair2/src/wheelchair2_navigation/maps \ No newline at end of file +ENV MAP_DIR=/home/$USERNAME/wheelchair2/src/wheelchair2_navigation/maps + + +#Install Miniconda +RUN mkdir -p ~/miniconda3 && \ + wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda3/miniconda.sh && \ + bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3 && \ + rm ~/miniconda3/miniconda.sh && \ + source ~/miniconda3/bin/activate && \ + conda init --all && \ + conda config --set auto_activate_base false diff --git a/ROS2/AMD64x86/wheelchair2_base_gazebo/pythonPkgs.list b/ROS2/AMD64x86/wheelchair2_base_gazebo/pythonPkgs.list index c2519b0..ab869e9 100644 --- a/ROS2/AMD64x86/wheelchair2_base_gazebo/pythonPkgs.list +++ b/ROS2/AMD64x86/wheelchair2_base_gazebo/pythonPkgs.list @@ -1,5 +1 @@ -casadi -open3d -"numpy<2" -"opencv-python<=4.10" -"ultralytics==8.3.168" \ No newline at end of file +open3d \ No newline at end of file diff --git a/ROS2/Jetson/wheelchair2_base_jetson/Dockerfile b/ROS2/Jetson/wheelchair2_base_jetson/Dockerfile index 6f3ea1f..31d0608 100644 --- a/ROS2/Jetson/wheelchair2_base_jetson/Dockerfile +++ b/ROS2/Jetson/wheelchair2_base_jetson/Dockerfile @@ -80,4 +80,13 @@ RUN echo 'export TERM="xterm-256color"' | sudo tee -a ~/.bashrc > /dev/null && \ COPY .tmux.conf /home/$USERNAME/.tmux.conf # Environment variable for map folder -ENV MAP_DIR=/home/$USERNAME/wheelchair2/src/wheelchair2_navigation/maps \ No newline at end of file +ENV MAP_DIR=/home/$USERNAME/wheelchair2/src/wheelchair2_navigation/maps + +#Install Miniconda +RUN mkdir -p ~/miniconda3 && \ + wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda3/miniconda.sh && \ + bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3 && \ + rm ~/miniconda3/miniconda.sh && \ + source ~/miniconda3/bin/activate && \ + conda init --all && \ + conda config --set auto_activate_base false \ No newline at end of file diff --git a/ROS2/Jetson/wheelchair2_base_jetson/pythonPkgs.list b/ROS2/Jetson/wheelchair2_base_jetson/pythonPkgs.list index c2519b0..ab869e9 100644 --- a/ROS2/Jetson/wheelchair2_base_jetson/pythonPkgs.list +++ b/ROS2/Jetson/wheelchair2_base_jetson/pythonPkgs.list @@ -1,5 +1 @@ -casadi -open3d -"numpy<2" -"opencv-python<=4.10" -"ultralytics==8.3.168" \ No newline at end of file +open3d \ No newline at end of file From 8eac061e65a47329fb39cd41ebaf20dc709617ce Mon Sep 17 00:00:00 2001 From: rtarun1 Date: Sat, 2 Aug 2025 04:12:33 +0530 Subject: [PATCH 4/4] minor bug fix --- ROS2/Jetson/wheelchair2_base_jetson/Dockerfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ROS2/Jetson/wheelchair2_base_jetson/Dockerfile b/ROS2/Jetson/wheelchair2_base_jetson/Dockerfile index 31d0608..2d88c87 100644 --- a/ROS2/Jetson/wheelchair2_base_jetson/Dockerfile +++ b/ROS2/Jetson/wheelchair2_base_jetson/Dockerfile @@ -84,7 +84,7 @@ ENV MAP_DIR=/home/$USERNAME/wheelchair2/src/wheelchair2_navigation/maps #Install Miniconda RUN mkdir -p ~/miniconda3 && \ - wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda3/miniconda.sh && \ + wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-aarch64.sh -O ~/miniconda3/miniconda.sh && \ bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3 && \ rm ~/miniconda3/miniconda.sh && \ source ~/miniconda3/bin/activate && \