Add realsense docker module and include examples

docker_modules/install_realsense.sh

@@ -0,0 +1,25 @@
+#!/bin/bash
+set -e
+
+if [ -z "$REALSENSE" ]; then
+    echo "Skipping RealSense installation as REALSENSE is not set"
+    exit 0
+fi
+
+# Install RealSense, TurtleBot3 packages and rqt steering
+# This script is intended to be run inside the Dockerfile during build.
+if [ "$REALSENSE" = "YES" ]; then
+    echo "Installing RealSense ros packages for ROS distro: ${ROS_DISTRO:-humble}"
+
+    sudo apt-get update && sudo apt-get install -y \
+        ros-${ROS_DISTRO}-point-cloud-transport \
+        ros-${ROS_DISTRO}-librealsense2* \
+        ros-${ROS_DISTRO}-realsense2-* \
+        ros-${ROS_DISTRO}-turtlebot3* \
+        ros-${ROS_DISTRO}-rqt-robot-steering \
+        ros-${ROS_DISTRO}-launch-pytest \ 
+        python3-tqdm \
+        && sudo rm -rf /var/lib/apt/lists/*
+fi
+
+echo "RealSense installation completed successfully!"

docs/docker-modules/realsense.md

@@ -0,0 +1,77 @@
+# Realsense
+
+[![GitHub code](https://img.shields.io/badge/code-blue?logo=github&label=github)](https://github.com/j3soon/ros2-essentials/blob/main/docker_modules/install_cartographer.sh)
+
+ROS2 Realsense. (Only installed by default for the template workspace.)
+
+To enable Realsense, set the `REALSENSE` argument to `YES` in the `compose.yaml` file of your desired workspace (e.g., `husky_ws/docker/compose.yaml`). After making these changes, rebuild the Docker image.
+
+> TODO: Remove duplicate content from the template workspace below.
+
+## 🐳 Start Container
+
+> Make sure your system meets the [system requirements](https://j3soon.github.io/ros2-essentials/#system-requirements) and have followed the [setup instructions](https://j3soon.github.io/ros2-essentials/#setup) before using this workspace.
+
+Run the following commands in a Ubuntu desktop environment. If you are using a remote server, make sure you're using a terminal within a remote desktop session (e.g., VNC) instead of SSH (i.e., don't use `ssh -X` or `ssh -Y`).
+
+```sh
+cd ~/ros2-essentials/template_ws/docker
+docker compose build
+xhost +local:docker
+docker compose up -d
+# The initial build will take a while, please wait patiently.
+```
+
+> If your user's UID is `1000`, you may replace the `docker compose build` command with `docker compose pull`.
+
+The commands in the following sections assume that you are inside the Docker container:
+
+```sh
+# in a new terminal
+docker exec -it ros2-template-ws bash
+```
+
+If the initial build somehow failed, run:
+
+```sh
+rm -r build install
+colcon build --symlink-install
+```
+
+Once you have finished testing, you can stop and remove the container with:
+
+```sh
+docker compose down
+```
+
+## Realsense test with gazebo
+
+- realsense_desp package: Description of a robot with realsense D435 camera.
+- realsense_gazebo package: Gazebo simulation of the robot with robot state publisher.
+- Launch Gazebo with turtlebot3 in `tmux`
+  ```bash
+  ros2 launch realsense_gazebo realsense_gazebo.launch.py
+  ```
+
+- Run the control tool in new window of `tmux`
+  ```bash
+  ros2 run rqt_robot_steering rqt_robot_steering
+  ```
+
+## Realsense test in realworld
+
+- Launch Realsense camera node in `tmux`
+    ```bash
+    # add pointcloud.enable:=true to enable pointcloud
+    ros2 launch realsense2_camera rs_launch.py
+    ```
+
+- Open RViz to verify the camera topics in `tmux`
+    ```bash
+    ros2 run rviz2 rviz2
+    ```
+
+## References
+
+- [Realsense ROS Wrapper](https://github.com/IntelRealSense/realsense-ros)
+- [RealSense Gazebo ROS Plugin](https://github.com/pal-robotics/realsense_gazebo_plugin)

template_ws/docker/Dockerfile

@@ -161,6 +161,13 @@ COPY --chown=$USERNAME:$USERNAME \
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     /tmp/install_rtabmap.sh && rm /tmp/install_rtabmap.sh
 
+# realsense configuration
+ARG REALSENSE=""
+COPY --chown=$USERNAME:$USERNAME \
+     modules/install_realsense.sh /tmp/install_realsense.sh
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    /tmp/install_realsense.sh && rm /tmp/install_realsense.sh
+
 # TODO: Add more commands here
 COPY --chown=$USERNAME:$USERNAME \
      .bashrc /home/$USERNAME/.bashrc

template_ws/docker/compose.yaml

@@ -46,6 +46,8 @@ services:
         CARTOGRAPHER: "YES"
         # TODO: Set to "YES" if using RTAB-Map or set to "" if not using RTAB-Map
         RTABMAP: "YES"
+        # TODO: Set to "YES" if using RealSense or set to "" if not using RealSense
+        REALSENSE: "YES"
       cache_from:
         - j3soon/ros2-template-ws:buildcache-amd64
         - j3soon/ros2-template-ws:buildcache-arm64
@@ -109,7 +111,7 @@ services:
       # Mount shared memory for ROS2 communication.
       - /dev/shm:/dev/shm
       # TODO: Uncomment the line below and comment out the three entries above to enable USB support.
-      # - /dev:/dev
+      - /dev:/dev
       # Mount Gazebo models directory to reuse models downloaded during first launch.
       # Reference: https://answers.ros.org/question/365658
       # Note that this volume is shared among all workspaces.
@@ -179,6 +181,11 @@ services:
       # TODO: Add more volume mounts here.
       # Mount root workspace to allow easy access to all workspaces.
       - ../..:/home/ros2-essentials
+    # Add device cgroup rules to allow access to specific devices (like realsense).
+    # Ref: https://github.com/2b-t/realsense-ros2-docker
+    device_cgroup_rules:
+      - 'c 81:* rmw'
+      - 'c 189:* rmw'
 volumes:
   gazebo-cache:
     name: ros2-gazebo-cache

template_ws/src/realsense_examples/realsense_desp/CMakeLists.txt

@@ -0,0 +1,30 @@
+cmake_minimum_required(VERSION 3.8)
+project(realsense_desp)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+install(DIRECTORY launch models urdf
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+ament_package()

template_ws/src/realsense_examples/realsense_desp/launch/realsense_desp.launch.py

@@ -0,0 +1,71 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import PathJoinSubstitution, LaunchConfiguration
+
+from launch_ros.substitutions import FindPackageShare
+from launch_ros.actions import Node
+
+def generate_launch_description():
+
+    # Declare the robot position argument
+    robot_px = LaunchConfiguration('robot_px')
+    robot_px_arg = DeclareLaunchArgument('robot_px', default_value='0.5')
+
+    robot_py = LaunchConfiguration('robot_py')
+    robot_py_arg = DeclareLaunchArgument('robot_py', default_value='0.5')
+
+    robot_pz = LaunchConfiguration('robot_pz')
+    robot_pz_arg = DeclareLaunchArgument('robot_pz', default_value='0.0')
+
+    # Define the path to the model
+    burger_model_path = PathJoinSubstitution([
+        FindPackageShare("realsense_desp"), 
+        "models/turtlebot3_burger/model.sdf"
+    ])
+
+    # Add robot description
+    # Ref: https://github.com/ROBOTIS-GIT/turtlebot3_simulations/blob/98a27b20952b11047f454d7ec751f8c742862713/turtlebot3_gazebo/launch/robot_state_publisher.launch.py
+    urdf_path = os.path.join(
+        get_package_share_directory('realsense_desp'),
+        'urdf',
+        'turtlebot3_burger.urdf'
+    )
+
+    with open(urdf_path, 'r') as infp:
+        robot_desc = infp.read()
+
+    robot_description = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        parameters=[{
+            'use_sim_time': True,
+            'robot_description': robot_desc
+        }],
+    )
+
+    # Spawn the robot in Gazebo
+    # Ref: https://github.com/ros-simulation/gazebo_ros_pkgs/blob/d52f7c471d1d2fd9425bf8621290bc4831be8dea/gazebo_ros/launch/spawn_entity_demo.launch.py
+    spawn_entity = Node(
+        package='gazebo_ros',
+        executable='spawn_entity.py',
+        arguments=[
+            '-entity', 'burger',
+            '-file', burger_model_path,
+            '-x', robot_px,
+            '-y', robot_py,
+            '-z', robot_pz
+        ],
+        parameters=[{'use_sim_time': True}]
+    )
+
+    return LaunchDescription([
+        # Argument
+        robot_pz_arg, robot_px_arg, robot_py_arg,
+
+        # Nodes
+        robot_description, spawn_entity
+    ])