fix merging conflicts.

Signed-off-by: Liu, Wei Zhi <[email protected]>

Author: LewisLiuPub

docker/ros2_ov202x/ros2_humble/Dockerfile

@@ -1,6 +1,6 @@
 # ros2 openvino toolkit env master f1b1ca4d914186a1881b87f103be9c6e910c9d80
 
-from osrf/ros:humble-desktop
+FROM osrf/ros:humble-desktop
 
 # Set non-interactive mode for APT
 ENV DEBIAN_FRONTEND=noninteractive
@@ -15,58 +15,55 @@ LABEL maintainer="Jayabalaji Sathiyamoorthi <[email protected]
 
 SHELL ["/bin/bash", "-c"]
 
-# install OpenVINO 2025.0.0 / 2023.3 LTS
-#https://docs.openvino.ai/2025/get-started/install-openvino.html?PACKAGE=OPENVINO_BASE&VERSION=v_2025_0_0&OP_SYSTEM=LINUX&DISTRIBUTION=APT
-RUN apt update \
-    && apt install curl wget gnupg2 lsb-release
-RUN wget https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB \
-    && apt-key add GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB 
-#RUN echo "deb https://apt.repos.intel.com/openvino/2025 ubuntu22 main" | tee /etc/apt/sources.list.d/intel-openvino-2025.list
-RUN echo "deb https://apt.repos.intel.com/openvino/2024 ubuntu22 main" | tee /etc/apt/sources.list.d/intel-openvino-2024.list
-#RUN echo "deb https://apt.repos.intel.com/openvino/2023 ubuntu22 main" | tee /etc/apt/sources.list.d/intel-openvino-2023.list
+# Define build argument for OpenVINO version (2025.0.0 , 2024.6.0, 2023.3.0)
+ARG OPENVINO_VERSION=2025.0.0
 
-RUN apt update \
-    && apt-cache search openvino \ 
-#    && apt-get install -y openvino-2025.0.0
-    && apt-get install -y openvino-2024.2.0
-#    && apt-get install -y openvino-2023.3.0
+# Extract the major version from the full version string
+ENV OPENVINO_MAJOR_VERSION=${OPENVINO_VERSION%%.*}
 
-# workaround to fetch librealsense2-dkms via ECI repo 
-RUN bash -c 'echo "deb [trusted=yes] http://wheeljack.ch.intel.com/apt-repos/ECI/$(lsb_release -sc) isar main" > /etc/apt/sources.list.d/eci.list'
-RUN bash -c 'echo "deb-src [trusted=yes] http://wheeljack.ch.intel.com/apt-repos/ECI/$(lsb_release -sc) isar main" >> /etc/apt/sources.list.d/eci.list'
-RUN bash -c 'echo -e "Package: *\nPin: origin wheeljack.ch.intel.com\nPin-Priority: 1000" > /etc/apt/preferences.d/isar'
-RUN bash -c 'echo "Acquire::http::Proxy \"http://proxy-dmz.intel.com:912\"; Acquire::https::Proxy \"http://proxy-dmz.intel.com:912\"; Acquire::http::Proxy::wheeljack.ch.intel.com DIRECT;" >> /etc/apt/apt.conf.d/proxy.conf'
-
-RUN apt-get update \
-    && apt-get install -y librealsense2-dkms 
+# install OpenVINO and dependencies
+# https://docs.openvinotoolkit.org/latest/openvino_docs_install_guides_installing_openvino_apt.html
+RUN apt update && \
+    apt install -y --no-install-recommends wget curl gnupg2 lsb-release software-properties-common apt-transport-https nano && \ 
+    wget -qO- https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB | gpg --dearmor -o /etc/apt/trusted.gpg.d/intel.gpg && \
+    echo "deb https://apt.repos.intel.com/openvino/${OPENVINO_MAJOR_VERSION} ubuntu22 main" | tee /etc/apt/sources.list.d/intel-openvino-${OPENVINO_MAJOR_VERSION}.list && \
+    apt update && \
+    apt-get install -y openvino-${OPENVINO_VERSION} && \
+    rm -rf /var/lib/apt/lists/*
 
 # install librealsense2
 # Reference : https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md
-RUN apt-get install -y --no-install-recommends \
-    software-properties-common \
-    apt-transport-https
-
-RUN mkdir -p /etc/apt/keyrings
-RUN curl -sSf https://librealsense.intel.com/Debian/librealsense.pgp | tee /etc/apt/keyrings/librealsense.pgp > /dev/null
-
-RUN echo "deb [signed-by=/etc/apt/keyrings/librealsense.pgp] https://librealsense.intel.com/Debian/apt-repo `lsb_release -cs` main" | \
-    tee /etc/apt/sources.list.d/librealsense.list
-RUN apt-get update
-RUN apt-get install -y --no-install-recommends \
-#    librealsense2-dkms \ # Houston, this is not available in kernel 6.8  
+RUN mkdir -p /etc/apt/keyrings && \
+    curl -sSf https://librealsense.intel.com/Debian/librealsense.pgp | tee /etc/apt/keyrings/librealsense.pgp > /dev/null && \
+    echo "deb [signed-by=/etc/apt/keyrings/librealsense.pgp] https://librealsense.intel.com/Debian/apt-repo `lsb_release -cs` main" | \
+    tee /etc/apt/sources.list.d/librealsense.list && \ 
+    apt-get update && \ 
+    apt-get install -y --no-install-recommends \
     librealsense2-utils \
     librealsense2-dev \
     librealsense2-dbg \
+    libgflags-dev \
     && rm -rf /var/lib/apt/lists/*
 
+#Install sudo and setup ubuntu user and password to "ubuntu"
+RUN apt-get update && apt-get install -y sudo && \
+    echo "root:ubuntu" | chpasswd && \
+    useradd -m -s /bin/bash ubuntu && \
+    echo "ubuntu:ubuntu" | chpasswd && \
+    usermod -aG sudo ubuntu && \
+    rm -rf /var/lib/apt/lists/*
+
+# Set working directory and Switch to user "ubuntu"
+WORKDIR /home/ubuntu
+USER ubuntu
+
 # build ros2 openvino toolkit
-WORKDIR /root
 RUN mkdir -p ros2_ws/src
-WORKDIR /root/ros2_ws/src
+WORKDIR /home/ubuntu/ros2_ws/src
 RUN git clone https://github.com/intel/ros2_object_msgs.git
-RUN git clone -b ros2 https://github.com/jb-balaji/ros2_openvino_toolkit.git
+#change the branch before merge
+RUN git clone -b openvino_2025 https://github.com/jb-balaji/ros2_openvino_toolkit.git 
 RUN git clone -b humble https://github.com/ros-perception/vision_opencv.git
-WORKDIR /root/ros2_ws
+WORKDIR /home/ubuntu/ros2_ws
 RUN source /opt/ros/humble/setup.bash \
     && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
-    

docker/ros2_ov202x/ros2_humble/docker_instructions.md

@@ -1 +1,120 @@
-To Do
+# ROS2 OpenVINO Toolkit Docker Image
+
+This repository contains a Dockerfile for building a Docker image with ROS2 and the OpenVINO toolkit. The image is based on the `osrf/ros:humble-desktop` base image and includes additional tools and libraries for working with OpenVINO and librealsense.
+
+## Features
+
+- ROS2 Humble Desktop
+- OpenVINO Toolkit (version configurable supports 2025.0.0, 2024.x, 2023.3)
+- librealsense2
+- User setup with `sudo` privileges
+  
+## Prerequisites  
+
+- Docker installed on your system
+- Network connection & correct proxy settings for downloading base images and dependencies
+
+## Building the Docker Image
+  
+To build the Docker image, use the following command. You can specify the OpenVINO version using the `--build-arg` option. The default version is `2025.0.0`.
+
+```bash
+docker build --build-arg  OPENVINO_VERSION=2025.0.0  -t  ros2_openvino_image  .
+
+```
+
+Replace `2025.0.0` with the desired OPENVINO version if needed, for example to build `OpenVINO 2024.6`, use the following command,
+
+```bash
+docker build --build-arg  OPENVINO_VERSION=2024.6.0  -t  ros2_openvino_image  .
+
+```  
+
+if you are behind a proxy server use the following command,
+
+```bash
+docker build --build-arg  "HTTP_PROXY=http://<your-proxy.com>:<your-port>" --build-arg  OPENVINO_VERSION=2024.6.0  -t  ros2_openvino_image  .
+
+```
+## Download the Models from OpenVINO Model Zoo (OMZ)
+OMZ tools are provided for downloading and converting OMZ models in OpenVINO 202x versions.</br>
+Refer to: [OMZ-tool_guide](https://pypi.org/project/openvino-dev/)
+Refer to: [OMZ Models](https://github.com/openvinotoolkit/open_model_zoo/tree/2024.6.0/models)
+
+```bash
+omz_downloader --print_all
+```
+
+* Download the optimized Intermediate Representation (IR) of model (execute once), for example:
+
+```bash
+omz_downloader --list <ros2-ws>/src/ros2_openvino_toolkit/data/model_list/download_model.lst -o /opt/openvino_toolkit/models/
+``` 
+
+## Running the Docker Container 
+
+To run the Docker container, use the following command:
+ 
+```bash
+docker run -it --rm --name  ros2_openvino_container  ros2_openvino_image
+
+``` 
+
+To run the Docker container with GUI support, use the following command:
+
+```bash
+docker run -itd  -e  DISPLAY=$DISPLAY -v  /tmp/.X11-unix:/tmp/.X11-unix  -v  /dev:/dev  --privileged=true  --name  ros2_openvino_container  ros2_openvino_image
+
+```
+
+To run the Docker container with the volumes containing models and images, use the following command:
+
+```bash
+docker run -itd -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -v /dev:/dev -v /opt:/opt -v /data:/data --privileged=true --name ros2_openvino_container ros2_openvino_image
+```
+
+#### Explanation of Options
+
+* -itd: Combines three flags:
+
+        -i: Runs the container in interactive mode, keeping the standard input open.
+		-t: Allocates a pseudo-TTY, which is useful for interactive applications.
+		-d: Runs the container in detached mode, allowing it to run in the background.
+
+* -e DISPLAY=$DISPLAY
+
+    ###### Sets the DISPLAY environment variable inside the container to match the host's DISPLAY variable. This is       necessary for GUI applications to display on the host's screen.
+
+* -v /tmp/.X11-unix:/tmp/.X11-unix
+
+    ###### Mounts the X11 Unix socket from the host to the container. This is required for GUI applications to communicate with the X server on the host.
+
+* -v /dev:/dev
+
+    ###### Mounts the /dev directory from the host to the container, allowing the container to access hardware devices. This is often necessary for applications that interact with hardware, such as cameras or GPUs.
+
+* -v /opt:/opt
+
+    ###### Mounts the /opt directory from the host to the container, allowing the container to access the models installed from OpenVINO Model Zoo.
+
+* -v /data:/data
+
+    ###### Mounts the /data directory from the host to the container, that contains the images and labels. Replace this with the folder of your images and labels.
+
+* --privileged=true
+
+    ###### Grants the container extended privileges, allowing it to access all devices on the host and perform operations that are typically restricted. This is necessary for certain applications that require direct hardware access.
+
+* --name ros2_openvino_container
+
+    ###### Assigns the name ros2_openvino_container to the running container, making it easier to reference in subsequent Docker commands.
+
+* ros2_openvino_image
+
+    ###### Specifies the name of the Docker image to run. Replace this with the actual name of your built image if it differs.
+ 
+### Notes
+
+* Ensure that your host's X11 server is configured to allow connections from the Docker container. You may need to run xhost +local:docker on the host to permit this.
+
+* The --privileged flag provides the container with elevated permissions, which can pose security risks. Use it only when necessary and understand the implications.