Ifm3d-ros2 Docker image for platform linux/arm64

[KtGunn]

I wish to run an ifm3d-ros2 Humble node from a container on the OVP800. I need to package Linux 22.04 for arm64, ifm3d, ROS2 Humble and ifm3d-ros2 in an image. If such an image already exists I'd be grateful to be directed to it. If not, I'd welcome hints and instructions for how to build it. I have searched both for an image and instructions but found little. There are some instructions on ifm3d.com site (https://ifm3d.com/ROS/ifm3d-ros2/doc/distributed_run.html) but they do not appear to be current.

[KtGunn]

Answering my own query, I see that the humble version of ifm3d-ros2 has a build script for docker images for both platforms amd64 and arm64. I will give that a try.

The Dockerfile I'm referring to comes from v1.1.0 (unreleased). I have not found this file and the accompanying build_humble_amd64.sh in other releases.

[KtGunn]

The docker image build trips over libboost-all-dev:

[lola-masson]

Hi @KtGunn,

Sorry for the delay. After some tinkering, I can build the container with the following Dockerfile:

ARG BASE_IMAGE="arm64v8/ros"
ARG BASE_IMAGE_TAG="humble"
ARG FINAL_IMAGE_TAG="humble-ros-core"

ARG ROS2_COMMIT="HEAD"

FROM ${BASE_IMAGE}:${BASE_IMAGE_TAG} AS base

# Create the ifm user
RUN id ifm 2>/dev/null || useradd --uid 30000 --create-home -s /bin/bash -U ifm
WORKDIR /home/ifm


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 \
    libboost-all-dev \    
    ros-${ROS_DISTRO}-rmw-cyclonedds-cpp

RUN mkdir /home/ifm/ifm3d
ADD https://github.com/ifm/ifm3d/releases/download/v1.2.6/ifm3d-ubuntu-22.04-arm64-debs_1.2.6.tar /home/ifm/ifm3d
RUN cd /home/ifm/ifm3d &&\
    tar -xf ifm3d-ubuntu-22.04-arm64-debs_1.2.6.tar &&  \
    dpkg -i *.deb

# Initialize colcon workspace
WORKDIR /home/ifm
RUN mkdir -p /home/ifm/colcon_ws/src \
    && /bin/bash -c 'cd /home/ifm/colcon_ws; . /opt/ros/${ROS_DISTRO}/setup.bash'

# Clone and build ifm3d-ros2 repo
ADD . /home/ifm/colcon_ws/src

# ARG ROS2_COMMIT
# RUN cd /home/ifm/colcon_ws/ifm3d-ros2/src && git checkout ${ROS2_COMMIT}
# RUN sed -i  --expression  's@contrib/nlohmann@device@' /home/ifm/colcon_ws/ifm3d-ros2/src/src/lib/camera_node.cpp


RUN /bin/bash -c 'cd /home/ifm/colcon_ws; . /opt/ros/${ROS_DISTRO}/setup.bash; ifm3d_DIR=/usr/lib/cmake; export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp; colcon build --cmake-args -DBUILD_TESTING=OFF'

I am still working on testing this and cleaning it up to integrate it with the upcoming official release.

[KtGunn]

[lola-masson]

My pleasure. Have a good recovery and let me know if you need anything else.

[KtGunn]

Finally got back to this project. After sorting out install and configuration issues on my system the docker image builds and loads in the OVP. A bit volumous at 1.32GB but I'm too happy with the successful build to complain.

In case it might be of help to somebody, below are the commands I used to build the image. I am running Ubuntu 22.04, docker version 20.10.24 build 297e128:

$ docker buildx create --use --name multi-arch-builder
$ docker buildx build --platform=linux/arm64/v8 -f Docker.ros2 --no-cache --load --tag=ovp-ros2:0.1 .

Again, thank you for your help.

[lola-masson]

Thanks for sharing, and I'm glad this is working now. Let us know if we can help with anything else.