Installation in Docker with ROS2-Humble image

[Igorgrc]

Hello,

Im trying to install it in Docker and Im encountering some errors:

• First of all, during the building:
  Starting >>> lslidar_driver
  --- stderr: lslidar_driver

• • WARNING * * io features related to pcap will be disabled
    In file included from /root/lidar_ws/src/lslidar_ros/lslidar_driver/src/lslidar_driver_node.cpp:1:
    /root/lidar_ws/src/lslidar_ros/lslidar_driver/include/lslidar_driver/lslidar_driver.h:128:18: warning: ‘lslidar_driver::c16_vertical_angle’ defined but not used [-Wunused-variable]
    128 | static float c16_vertical_angle[16] = {-16.0f, 0.0f, -14.0f, 2.0f, -12.0f, 4.0f, -10.0f, 6.0f,
    | ^~~~~~~~~~~~~~~~~~

---

Finished <<< lslidar_driver [24.1s]
--- stderr: ndt_omp_ros2

• • WARNING * * io features related to pcap will be disabled

---

Finished <<< ndt_omp_ros2 [44.2s]
Starting >>> graph_based_slam
Starting >>> scanmatcher
[Processing: graph_based_slam, scanmatcher]
[Processing: graph_based_slam, scanmatcher]
[Processing: graph_based_slam, scanmatcher]
--- stderr: scanmatcher
CMake Warning (dev) at CMakeLists.txt:36 (find_package):
Policy CMP0074 is not set: find_package uses _ROOT variables.
Run "cmake --help-policy CMP0074" for policy details. Use the cmake_policy
command to set the policy and suppress this warning.

CMake variable PCL_ROOT is set to:

/usr

For compatibility, CMake is ignoring the variable.
This warning is for project developers. Use -Wno-dev to suppress it.

---

Finished <<< scanmatcher [1min 32s]
--- stderr: graph_based_slam
CMake Warning (dev) at CMakeLists.txt:37 (find_package):
Policy CMP0074 is not set: find_package uses _ROOT variables.
Run "cmake --help-policy CMP0074" for policy details. Use the cmake_policy
command to set the policy and suppress this warning.

CMake variable PCL_ROOT is set to:

/usr

For compatibility, CMake is ignoring the variable.
This warning is for project developers. Use -Wno-dev to suppress it.

---

Finished <<< graph_based_slam [1min 58s]
Starting >>> lidarslam
--- stderr: lidarslam
CMake Warning (dev) at CMakeLists.txt:33 (find_package):
Policy CMP0074 is not set: find_package uses _ROOT variables.
Run "cmake --help-policy CMP0074" for policy details. Use the cmake_policy
command to set the policy and suppress this warning.

CMake variable PCL_ROOT is set to:

/usr

For compatibility, CMake is ignoring the variable.
This warning is for project developers. Use -Wno-dev to suppress it.

---

Finished <<< lidarslam [27.0s]

But these warnings allow the build to complete.

• Then, I check the logs of the container after this command:
  command: ["/bin/bash", "-c", "source /opt/ros/humble/setup.bash && source /root/lidar_ws/install/setup.bash && ros2 launch lidarslam_ros2 lidarslam.launch.py || sleep infinity"]
  The sleep infinity is to prevent the container to restart.

Package 'lidarslam_ros2' not found: "package 'lidarslam_ros2' not found, searching: ['/root/lidar_ws/install/lidarslam', '/root/lidar_ws/install/scanmatcher', '/root/lidar_ws/install/graph_based_slam', '/root/lidar_ws/install/ndt_omp_ros2', '/root/lidar_ws/install/lslidar_driver', '/root/lidar_ws/install/lslidar_msgs', '/root/lidar_ws/install/lidarslam_msgs', '/opt/ros/humble']"

• When I access the container, I check if the package is recognized, with ros2 pkg prefix lidarslam_ros2 and the output is:

Package not found

I dont know what the problem could be. I also share the Dockerfile in case that the error is in there.

FROM osrf/ros:humble-desktop

RUN apt-get update && apt-get install -y
software-properties-common
ros-humble-pcl-ros
ros-humble-pluginlib
ros-humble-pcl-conversions
ros-humble-sensor-msgs-py
python3-colcon-common-extensions
python3-pip
libpcap-dev
libboost-all-dev
git
build-essential
cmake
libeigen3-dev
libsuitesparse-dev
libqt5opengl5-dev
libqglviewer-dev-qt5
&& rm -rf /var/lib/apt/lists/*

#Build and install g2o from source
WORKDIR /root
RUN git clone https://github.com/RainerKuemmerle/g2o.git &&
cd g2o &&
mkdir build &&
cd build &&
cmake .. &&
make -j$(nproc) &&
make install

WORKDIR /root/lidar_ws/src

#Copy the lslidar_ros package into the workspace
COPY lslidar_ros ./lslidar_ros

#Clone the lidarslam_ros2 repository
RUN git clone --recursive https://github.com/rsasaki0109/lidarslam_ros2.git

WORKDIR /root/lidar_ws

#Build the workspace
RUN /bin/bash -c "source /opt/ros/humble/setup.bash && colcon build --symlink-install"

#Source ROS2 setup in the container
RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
RUN echo "source /root/lidar_ws/install/setup.bash" >> ~/.bashrc

COPY requirements.txt ./requirements.txt
RUN pip3 install --no-cache-dir -r requirements.txt

WORKDIR /app
COPY . ./

[rsasaki0109]

Hmm... I’m not really sure.