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Merge branch 'release1.1.0' into 'master'
Update to ifm3d 1.2.6 See merge request syntron/support/csr/ifm3d/ifm3d-ros!28
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| #editor temp/backup files | ||
| *~ | ||
| *.swp | ||
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| ## VSCode and Python | ||
| .DS_Store | ||
| .huskyrc.json | ||
| out | ||
| log.log | ||
| **/node_modules | ||
| *.pyc | ||
| *.vsix | ||
| **/.vscode/.ropeproject/** | ||
| **/testFiles/**/.cache/** | ||
| *.noseids | ||
| .nyc_output | ||
| .vscode-test | ||
| __pycache__ | ||
| npm-debug.log | ||
| **/.mypy_cache/** | ||
| !yarn.lock | ||
| coverage/ | ||
| cucumber-report.json | ||
| **/.vscode-test/** | ||
| **/.vscode test/** | ||
| **/.vscode-smoke/** | ||
| **/.venv*/ | ||
| port.txt | ||
| precommit.hook | ||
| pythonFiles/lib/** | ||
| debug_coverage*/** | ||
| languageServer/** | ||
| languageServer.*/** | ||
| bin/** | ||
| obj/** | ||
| .pytest_cache | ||
| tmp/** | ||
| .python-version | ||
| .vs/ | ||
| test-results*.xml | ||
| xunit-test-results.xml | ||
| build/ci/performance/performance-results.json | ||
| !build/ | ||
| debug*.log | ||
| debugpy*.log | ||
| pydevd*.log | ||
| nodeLanguageServer/** | ||
| nodeLanguageServer.*/** | ||
| dist/** | ||
| # translation files | ||
| *.xlf | ||
| package.nls.*.json | ||
| l10n/ |
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| # Release notes ifm3d-ros | ||
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| ## Dependent software and firmware release notes and changelogs | ||
| + ifm3d-ros: For changes between on the ifm3d-ros node source code, please see the respective information in the [CHANGELOG](CHANGELOG.rst). | ||
| + ifm3d: For changes between on the ifm3d API source code, please see the respective information in the [ifm3d CHANGELOG](https://github.com/ifm/ifm3d/blob/main/ChangeLog.md). | ||
| + O3R firmware: For changes between on the different FW versions, please see the respective information in the [FW release notes](https://ifm3d.com/documentation/Firmware/index.html). | ||
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| ## ifm3d-ros 1.1 | ||
| The ifm3d-ros node version 1.1 depends on ifm3d API 1.2.6, as can be seen in the [compatibility matrix](README.md#software-compatibility-matrix). | ||
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| Between ifm3d API version 0.93 and 1.1 the internal handling of the amplitude and distance image and the point cloud has changed: The previously automatically applied masking based on the confidence image is no longer applied. As a result, more image pixels are displayed as valid pixels. | ||
| If you want to apply a binary mapping to these images, use the confidence image as provided in the ROS node and apply the mask `confidence&1` for backward compatibility. |
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| ############################################# | ||
| # Copyright 2023-present ifm electronic, gmbh | ||
| # SPDX-License-Identifier: Apache-2.0 | ||
| ############################################# | ||
| ARG BASE_IMAGE | ||
| ARG BUILD_IMAGE_TAG | ||
| ARG FINAL_IMAGE_TAG | ||
| FROM ${BASE_IMAGE}:${BUILD_IMAGE_TAG} AS build | ||
| ARG IFM3D_VERSION | ||
| ARG IFM3D_ROS_REPO | ||
| ARG IFM3D_ROS_BRANCH | ||
| ARG ARCH | ||
| ARG UBUNTU_VERSION | ||
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| # Create the ifm user | ||
| RUN id ifm 2>/dev/null || useradd --uid 30000 --create-home -s /bin/bash -U ifm | ||
| WORKDIR /home/ifm | ||
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| # Dependencies for both ifm3d and ifm3d-ros2 | ||
| ARG DEBIAN_FRONTEND=noninteractive | ||
| RUN apt-get update && apt-get install -y \ | ||
| git \ | ||
| jq \ | ||
| libxmlrpc-c++8-dev \ | ||
| libproj-dev \ | ||
| build-essential \ | ||
| coreutils \ | ||
| cmake \ | ||
| wget \ | ||
| libssl-dev \ | ||
| libgoogle-glog-dev \ | ||
| libgoogle-glog0v5 \ | ||
| python3-rosdep | ||
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| # Install ifm3d using the deb files | ||
| RUN mkdir /home/ifm/ifm3d | ||
| ADD https://github.com/ifm/ifm3d/releases/download/v${IFM3D_VERSION}/ifm3d-ubuntu-${UBUNTU_VERSION}-${ARCH}-debs_${IFM3D_VERSION}.tar /home/ifm/ifm3d | ||
| RUN cd /home/ifm/ifm3d &&\ | ||
| tar -xf ifm3d-ubuntu-${UBUNTU_VERSION}-${ARCH}-debs_${IFM3D_VERSION}.tar && \ | ||
| dpkg -i *.deb | ||
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| # Clone and build ifm3d-ros repo | ||
| SHELL ["/bin/bash", "-c"] | ||
| # RUN mkdir -p /home/ifm/catkin_ws/src && \ | ||
| # cd /home/ifm/catkin_ws/src && \ | ||
| # git clone ${IFM3D_ROS_REPO} -b ${IFM3D_ROS_BRANCH} --single-branch | ||
| ADD . /home/ifm/catkin_ws/src | ||
| RUN cd /home/ifm/catkin_ws && \ | ||
| rosdep update --rosdistro=${ROS_DISTRO} && \ | ||
| rosdep install --from-path src -y --ignore-src | ||
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| RUN cd /home/ifm/catkin_ws && \ | ||
| source /opt/ros/${ROS_DISTRO}/setup.bash && \ | ||
| catkin_make | ||
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| # Multistage build to reduce image size | ||
| ARG BASE_IMAGE | ||
| FROM ${BASE_IMAGE}:${FINAL_IMAGE_TAG} | ||
| # Copy files built in previous stage | ||
| COPY --from=build /home/ifm/catkin_ws /home/ifm/catkin_ws | ||
| COPY --from=build /home/ifm/ifm3d/*.deb /home/ifm/ifm3d/ | ||
| WORKDIR /home/ifm | ||
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| # Install ifm3d and ifm3d-ros2 runtime dependencies | ||
| ARG DEBIAN_FRONTEND=noninteractive | ||
| RUN apt-get update \ | ||
| && apt-get install -y --no-install-recommends \ | ||
| libxmlrpc-c++8v5 \ | ||
| locales \ | ||
| sudo \ | ||
| libssl-dev \ | ||
| libgoogle-glog0v5 \ | ||
| libboost-all-dev \ | ||
| python3-rosdep \ | ||
| && rm -rf /var/lib/apt/lists/* | ||
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| # Install ifm3d | ||
| RUN cd /home/ifm/ifm3d &&\ | ||
| dpkg -i *.deb | ||
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| RUN cd /home/ifm/catkin_ws && \ | ||
| apt-get update && \ | ||
| rosdep init && \ | ||
| rosdep update --rosdistro=${ROS_DISTRO} && \ | ||
| rosdep install --from-path src -y --ignore-src | ||
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| # Setup localisation | ||
| RUN echo "en_US.UTF-8 UTF-8" >> /etc/locale.gen && \ | ||
| locale-gen en_US.UTF-8 && \ | ||
| /usr/sbin/update-locale LANG=en_US.UTF-8 | ||
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| ENV LANG en_US.UTF-8 | ||
| ENV LANGUAGE en_US:en | ||
| ENV LC_ALL en_US.UTF-8 | ||
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| # NOTE: Make sure to run export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp |
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| ############################################# | ||
| # Copyright 2023-present ifm electronic, gmbh | ||
| # SPDX-License-Identifier: Apache-2.0 | ||
| ############################################# | ||
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| ARG BASE_IMAGE | ||
| ARG BUILD_IMAGE_TAG | ||
| ARG FINAL_IMAGE_TAG | ||
| FROM ${BASE_IMAGE}:${BUILD_IMAGE_TAG} AS build | ||
| ARG IFM3D_VERSION | ||
| ARG IFM3D_ROS_REPO | ||
| ARG IFM3D_ROS_BRANCH | ||
| ARG ARCH | ||
| ARG UBUNTU_VERSION | ||
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| # Create the ifm user | ||
| RUN id ifm 2>/dev/null || useradd --uid 30000 --create-home -s /bin/bash -U ifm | ||
| WORKDIR /home/ifm | ||
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| # Dependencies for both ifm3d and ifm3d-ros2 | ||
| ARG DEBIAN_FRONTEND=noninteractive | ||
| RUN apt-get update && apt-get install -y \ | ||
| git \ | ||
| jq \ | ||
| libxmlrpc-c++8-dev \ | ||
| libproj-dev \ | ||
| libcurl4 \ | ||
| libgoogle-glog-dev \ | ||
| libgoogle-glog0v5 \ | ||
| build-essential \ | ||
| coreutils \ | ||
| cmake \ | ||
| wget \ | ||
| libssl-dev \ | ||
| python3-rosdep | ||
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| # Install ifm3d using the deb files | ||
| RUN mkdir /home/ifm/ifm3d | ||
| ADD https://github.com/ifm/ifm3d/releases/download/v${IFM3D_VERSION}/ifm3d-ubuntu-${UBUNTU_VERSION}-${ARCH}-debs_${IFM3D_VERSION}.tar /home/ifm/ifm3d | ||
| RUN cd /home/ifm/ifm3d &&\ | ||
| tar -xf ifm3d-ubuntu-${UBUNTU_VERSION}-${ARCH}-debs_${IFM3D_VERSION}.tar && \ | ||
| dpkg -i *.deb | ||
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| SHELL ["/bin/bash", "-c"] | ||
| # Manually install ifm3d-ros additional ROS packages: based on noetic-ros-core base image | ||
| RUN apt-get update && apt-get install -y \ | ||
| ros-noetic-tf2-ros \ | ||
| ros-noetic-tf \ | ||
| ros-noetic-image-transport | ||
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| ADD . /home/ifm/catkin_ws/src | ||
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| RUN cd /home/ifm/catkin_ws && \ | ||
| source /opt/ros/${ROS_DISTRO}/setup.bash && \ | ||
| catkin_make --only-pkg-with-deps ifm3d_ros_msgs | ||
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| RUN cd /home/ifm/catkin_ws && \ | ||
| source /opt/ros/${ROS_DISTRO}/setup.bash && \ | ||
| catkin_make --only-pkg-with-deps ifm3d-ros |
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