Jetpack 4.4 zed ros docker wrapper

[Andrey Volodin]

docker run -it --runtime nvidia --privileged -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix stereolabs/zed:3.2-ros-devel-jetson-jp4.4 root@98b4090dc67f:/opt/ros_ws# roslaunch zed_rtabmap_example zed_rtabmap.launch RLException: [zed_rtabmap.launch] is neither a launch file in package [zed_rtabmap_example] nor is [zed_rtabmap_example] a launch file name The traceback for the exception was written to the log file root@98b4090dc67f:/opt/ros_ws# roslaunch zed_display_rviz display_zed2.launch RLException: [display_zed2.launch] is neither a launch file in package [zed_display_rviz] nor is [zed_display_rviz] a launch file name The traceback for the exception was written to the log file root@98b4090dc67f:/opt/ros_ws#

[Andrey Volodin]

docker run -it --rm --runtime nvidia --privileged -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix stereolabs/zed:3.2-ros-devel-jetson-jp4.4 bash
root@92a6512c8e6a:/opt/ros_ws# roslaunch zed_display_rviz display_zed2.launch
RLException: [display_zed2.launch] is neither a launch file in package [zed_display_rviz] nor is [zed_display_rviz] a launch file name
The traceback for the exception was written to the log file

[Aymeric Dujardin]

This behavior is expected since the docker image only contains the "base driver", eg this https://github.com/stereolabs/zed-ros-wrapper (setup like this).

The display examples and other integrations are not included by default. You can customize the image to also install these using https://github.com/stereolabs/zed-ros-examples

[Andrey Volodin]

@adujardin could you update the dockerfile so that the latest l4tbase 32.4.3 is used?

[Aymeric Dujardin]

The display support can be tricky using Docker, especially when running on Jetson. This is not a feature we're actively supporting currently with our images.

You should try to run GUI applications using the default Nvidia image first, for instance, the Cuda/OpenGL samples. Make sure to follow the instructions to enable display support and proper authorization. See here https://ngc.nvidia.com/catalog/containers/nvidia:l4t-base section 'Run the container'.

[Andrey Volodin]

@adujardin Thank you for your reply.
Do you have a Jeton device to try with?
Finally it seems possible to run on Jetson AGX/NX the following pipeline:

export DISPLAY=:0
xhost +
docker run -it --rm --net=host --runtime nvidia -e DISPLAY=$DISPLAY --privileged --ipc=host -v /tmp/.X11-unix/:/tmp/.X11-unix/ -v /tmp/argus_socket:/tmp/argus_socket --cap-add SYS_PTRACE gcr.io/viziochron/zedjp44 /bin/bash -c '. devel/setup.bash; roslaunch zed_rtabmap_example zed_rtabmap.launch'

In the second terminal:
docker ps -a # to get the identifier of the running container

docker exec -it  thecontainer_identifier /bin/bash
source devel/setup.bash
rtabmap-databaseViewer ~/.ros/rtabmap.db 

If to press edit >view 3d map; the popped up |cloud 1 window seems to stuck on 66% voxalization
could you provide any advise ?
The source docker file from that the image can bebuilt e.g. with
docker . -t zed
so that the container image will be local and executed with the command below is attached
docker run -it --rm --net=host --runtime nvidia -e DISPLAY=$DISPLAY --privileged --ipc=host -v /tmp/.X11-unix/:/tmp/.X11-unix/ -v /tmp/argus_socket:/tmp/argus_socket --cap-add SYS_PTRACE zed:latest /bin/bash -c '. devel/setup.bash; roslaunch zed_rtabmap_example zed_rtabmap.launch'

the single run command that pushes the image from gcr will be published in few hours
Dockerfile.txt
for public access

[Andrey Volodin]

@adujardin , any help with the above?

[Andrey Volodin]

how about ros2 docker jetson wrapper?

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