├── ros_entrypoint.sh
├── README.md
└── Dockerfile


/ros_entrypoint.sh:
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 1 | #!/bin/bash
 2 | set -e
 3 | 
 4 | # setup ros environment
 5 | if [ -z "${SETUP}" ]; then
 6 |     source "/catkin_ws/devel/setup.bash"
 7 | else
 8 |     source $SETUP
 9 | fi
10 | 
11 | exec "$@"
12 | 


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/README.md:
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 1 | # Docker for d415/d435 using ROS
 2 | 
 3 | Connect d415 or d435 to your pc and enter following command in your terminal.
 4 | 
 5 | ```
 6 | docker run --rm --net=host --privileged --volume=/dev:/dev -it iory/realsense-ros-docker:kinetic /bin/bash -i -c 'roslaunch realsense2_camera rs_rgbd.launch enable_pointcloud:=true align_depth:=false depth_registered_processing:=true align_depth:=true'
 7 | ```
 8 | 
 9 | If you would like to change ```ROS_MASTER_URI```,
10 | 
11 | ```
12 | docker run --rm --net=host --privileged --volume=/dev:/dev -it iory/realsense-ros-docker:kinetic /bin/bash -i -c 'rossetmaster TARGET_IP; roslaunch realsense2_camera rs_rgbd.launch enable_pointcloud:=true align_depth:=false depth_registered_processing:=true align_depth:=true'
13 | ```
14 | 


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/Dockerfile:
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 1 | FROM ros:kinetic
 2 | 
 3 | LABEL maintainer="iory ab.ioryz@gmail.com"
 4 | 
 5 | ENV ROS_DISTRO kinetic
 6 | 
 7 | RUN apt -q -qq update && \
 8 |     DEBIAN_FRONTEND=noninteractive apt install -y \
 9 |     software-properties-common \
10 |     wget \
11 |     apt-transport-https
12 | 
13 | RUN apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
14 | RUN add-apt-repository -y "deb https://librealsense.intel.com/Debian/apt-repo xenial main"
15 | RUN apt-get update -qq
16 | RUN apt-get install librealsense2-dkms --allow-unauthenticated -y
17 | RUN apt-get install librealsense2-dev --allow-unauthenticated -y
18 | 
19 | RUN apt -q -qq update && \
20 |   DEBIAN_FRONTEND=noninteractive apt install -y --allow-unauthenticated \
21 |   python-rosinstall \
22 |   python-catkin-tools \
23 |   ros-${ROS_DISTRO}-jsk-tools \
24 |   ros-${ROS_DISTRO}-rgbd-launch \
25 |   ros-${ROS_DISTRO}-image-transport-plugins \
26 |   ros-${ROS_DISTRO}-image-transport
27 | 
28 | RUN rosdep update
29 | 
30 | RUN mkdir -p /catkin_ws/src && cd /catkin_ws/src && \
31 |   git clone --depth 1 https://github.com/IntelRealSense/realsense-ros.git && \
32 |   git clone --depth 1 https://github.com/pal-robotics/ddynamic_reconfigure
33 | RUN cd catkin_ws;
34 | RUN mv /bin/sh /bin/sh_tmp && ln -s /bin/bash /bin/sh
35 | RUN source /opt/ros/${ROS_DISTRO}/setup.bash; cd catkin_ws; catkin build -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
36 | RUN rm /bin/sh && mv /bin/sh_tmp /bin/sh
37 | RUN touch /root/.bashrc && \
38 |   echo "source /catkin_ws/devel/setup.bash\n" >> /root/.bashrc && \
39 |   echo "rossetip\n" >> /root/.bashrc && \
40 |   echo "rossetmaster localhost"
41 | 
42 | RUN rm -rf /var/lib/apt/lists/*
43 | 
44 | COPY ./ros_entrypoint.sh /
45 | ENTRYPOINT ["/ros_entrypoint.sh"]
46 | 
47 | CMD ["bash"]
48 | 


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