fix: update setup.sh

docker/erobs-common-img/99-k4a.rules

@@ -0,0 +1,16 @@
+
+# Bus 002 Device 116: ID 045e:097a Microsoft Corp.  - Generic Superspeed USB Hub
+# Bus 001 Device 015: ID 045e:097b Microsoft Corp.  - Generic USB Hub
+# Bus 002 Device 118: ID 045e:097c Microsoft Corp.  - Azure Kinect Depth Camera
+# Bus 002 Device 117: ID 045e:097d Microsoft Corp.  - Azure Kinect 4K Camera
+# Bus 001 Device 016: ID 045e:097e Microsoft Corp.  - Azure Kinect Microphone Array
+
+BUS!="usb", ACTION!="add", SUBSYSTEM!=="usb_device", GOTO="k4a_logic_rules_end"
+
+ATTRS{idVendor}=="045e", ATTRS{idProduct}=="097a", MODE="0666", GROUP="plugdev"
+ATTRS{idVendor}=="045e", ATTRS{idProduct}=="097b", MODE="0666", GROUP="plugdev"
+ATTRS{idVendor}=="045e", ATTRS{idProduct}=="097c", MODE="0666", GROUP="plugdev"
+ATTRS{idVendor}=="045e", ATTRS{idProduct}=="097d", MODE="0666", GROUP="plugdev"
+ATTRS{idVendor}=="045e", ATTRS{idProduct}=="097e", MODE="0666", GROUP="plugdev"
+
+LABEL="k4a_logic_rules_end"

docker/erobs-common-img/Dockerfile

@@ -9,27 +9,65 @@ RUN apt-get update \
         ros-${ROS_DISTRO}-rclpy \
         ros-${ROS_DISTRO}-ur \
         build-essential \
+        cmake \
+        usbutils \
+        libgtk2.0-dev \
+        libusb-1.0\
+        ffmpeg \
+        mlocate \
+        wget \
+        curl \
+        ros-${ROS_DISTRO}-joint-state-publisher \
+        software-properties-common \
         python3-colcon-common-extensions
+
+# For vnc viewer       
 RUN apt-get install -y x11vnc xvfb 
-# Clean up
-RUN apt-get autoremove -y \
-        && apt-get clean -y \
-        && rm -rf /var/lib/apt/lists/*
-RUN pip3 install rosdep && \
-        rosdep update
+
+# Get necessary repos set for Azure-Kinect
+RUN curl -sSL https://packages.microsoft.com/keys/microsoft.asc | sudo tee /etc/apt/trusted.gpg.d/microsoft.asc
+RUN sudo apt-add-repository https://packages.microsoft.com/ubuntu/20.04/prod
+
+RUN curl -sSL https://packages.microsoft.com/keys/microsoft.asc | sudo apt-key add -
+RUN sudo apt-add-repository https://packages.microsoft.com/ubuntu/18.04/prod
+RUN curl -sSL https://packages.microsoft.com/config/ubuntu/18.04/prod.list | sudo tee /etc/apt/sources.list.d/microsoft-prod.list
+RUN curl -sSL https://packages.microsoft.com/keys/microsoft.asc | sudo apt-key add -
+
+# || true forces through the errors without breaking the apt-get update
+RUN sudo apt-get update || true 
+
+# End user license agreement (EULA) parameter is necessary. -y won't trigger a EULA answer
+RUN ACCEPT_EULA=Y apt-get install -y libk4a1.4 libk4a1.4-dev
+
+RUN wget mirrors.kernel.org/ubuntu/pool/universe/libs/libsoundio/libsoundio1_1.1.0-1_amd64.deb
+RUN sudo dpkg -i libsoundio1_1.1.0-1_amd64.deb
+RUN sudo apt install -y k4a-tools
+
+# Copy the rules
+COPY 99-k4a.rules /etc/udev/rules.d/99-k4a.rules
+
+RUN pip3 install xacro 
 
 RUN mkdir /root/ws -p
 
 WORKDIR /root/ws
 
-RUN git clone https://github.com/maffettone/erobs.git -b humble
+RUN git clone https://github.com/ChandimaFernando/erobs.git -b azure-kinect
+# RUN git clone https://github.com/maffettone/erobs.git -b humble
 
 WORKDIR /root/ws/erobs/
 RUN /bin/bash -c ". ./setup.sh"
 
 WORKDIR /root/ws/
 RUN /bin/bash -c ". ./erobs/build.sh"
 
+# Clean up
+RUN apt-get autoremove -y \
+        && apt-get clean -y \
+        && rm -rf /var/lib/apt/lists/*
+RUN pip3 install rosdep && \
+        rosdep update
+
 ENV ROBOT_IP=192.168.56.101
 ENV REVERSE_IP=192.168.56.102
 ENV UR_TYPE="ur3e"

setup.sh

@@ -2,6 +2,6 @@
 set -e
 
 vcs import < src/ros2.repos src
-sudo apt-get update
+sudo apt-get update || true 
 rosdep update
 rosdep install --from-paths src --ignore-src -y

src/ros2.repos

@@ -12,3 +12,7 @@ repositories:
     type: git
     url: https://github.com/PickNikRobotics/serial-release.git
     version: release/humble/serial
+  kinect:
+    type: git
+    url: https://github.com/microsoft/Azure_Kinect_ROS_Driver.git
+    version: humble