fix: missing script ros2 install

docker_humble_jetson_torch/Dockerfile

@@ -5,6 +5,9 @@ FROM dustynv/ros:humble-desktop-pytorch-l4t-r35.4.1 AS base
 
 ARG DEBIAN_FRONTEND=noninteractive
 
+# commands will be appended/run by the entrypoint which sources the ROS environment
+COPY ros_entrypoint.sh ros2_install.sh /
+
 # Install language
 RUN apt-get update && apt-get install -y locales \
     && locale-gen en_US en_US.UTF-8 \

docker_humble_jetson_torch/ros2_install.sh

@@ -0,0 +1,75 @@
+#!/usr/bin/env bash
+# downloads, builds, and installs ROS2 packages from source in $ROS_WORKSPACE directory
+# for example:  ros2_install.sh xacro teleop_twist_joy
+set -ex
+
+source $ROS_ROOT/install/setup.bash
+export ROS_PACKAGE_PATH=${AMENT_PREFIX_PATH}
+
+: "${ROS_WORKSPACE:=${ROS_ROOT}}"
+: "${ROSDEP_SKIP_KEYS:=gazebo11 libgazebo11-dev libopencv-dev libopencv-contrib-dev libopencv-imgproc-dev python-opencv python3-opencv}"
+
+echo "ROS2 building packages in $ROS_WORKSPACE => $@"
+
+mkdir -p $ROS_WORKSPACE/src
+cd $ROS_WORKSPACE
+
+if [[ $1 == http* ]]; then
+    SOURCE="git_clone"
+    cd src
+    git clone $1
+    cd ../
+else
+    SOURCE="rosinstall_generator"
+    rosinstall_generator --deps --exclude RPP --rosdistro ${ROS_DISTRO} $@ > ros2.${ROS_DISTRO}.rosinstall
+    cat ros2.${ROS_DISTRO}.rosinstall
+    vcs import src/ < ros2.${ROS_DISTRO}.rosinstall
+
+    apt-get update
+
+    rosdep install -y \
+        --ignore-src \
+        --from-paths src \
+        --rosdistro ${ROS_DISTRO} \
+        --skip-keys "${ROSDEP_SKIP_KEYS}"
+
+    rm -rf /var/lib/apt/lists/*
+    apt-get clean
+fi
+
+if [ "${ROS_WORKSPACE}" = "${ROS_ROOT}" ]; then
+    COLCON_FLAGS="--merge-install"
+else
+    COLCON_FLAGS="--symlink-install"
+fi
+
+colcon build ${COLCON_FLAGS} --base-paths src --event-handlers console_direct+ 
+
+#rm -rf ${ROS_WORKSPACE}/src
+#rm -rf ${ROS_WORKSPACE}/logs
+#rm -rf ${ROS_WORKSPACE}/build 
+
+#rm ${ROS_WORKSPACE}/*.rosinstall
+
+if grep $ROS_WORKSPACE /ros_entrypoint.sh; then
+    echo "workspace $ROS_WORKSPACE was already set to be sourced on startup:"
+else
+    tac /ros_entrypoint.sh | sed -e "3iros_source_env $ROS_WORKSPACE/install/setup.bash" | tac | tee /ros_entrypoint.sh
+    echo "added $ROS_WORKSPACE to be sourced on startup:"
+fi
+
+echo ""
+cat /ros_entrypoint.sh
+
+if [ "$SOURCE" = "rosinstall_generator" ]; then
+    source $ROS_WORKSPACE/install/setup.bash
+    ros_packages=$(ros2 pkg list)
+    echo "ROS2 packages installed:"
+    echo "$ros_packages"
+    if echo "$ros_packages" | grep "$@"; then
+        echo "$@ found"
+    else
+        echo "$@ not found"
+        exit 1
+    fi   
+fi

docker_humble_jetson_torch/ros_entrypoint.sh

@@ -0,0 +1,30 @@
+#!/bin/bash
+#set -e
+
+function ros_source_env() 
+{
+	if [ -f "$1" ]; then
+		echo "sourcing   $1"
+		source "$1"
+    fi
+	#else
+	#	echo "notfound   $1"
+	#fi	
+}
+
+if [[ "$ROS_DISTRO" == "melodic" || "$ROS_DISTRO" == "noetic" ]]; then
+	ros_source_env "/opt/ros/$ROS_DISTRO/setup.bash"
+else
+	ros_source_env "$ROS_ROOT/install/setup.bash"
+
+	#echo "ROS_PACKAGE_PATH   $ROS_PACKAGE_PATH"
+	#echo "COLCON_PREFIX_PATH $COLCON_PREFIX_PATH"
+	#echo "AMENT_PREFIX_PATH  $AMENT_PREFIX_PATH"
+	#echo "CMAKE_PREFIX_PATH  $CMAKE_PREFIX_PATH"
+fi
+
+echo "ROS_DISTRO $ROS_DISTRO"
+echo "ROS_ROOT   $ROS_ROOT"
+
+export AMENT_PREFIX_PATH=${AMENT_PREFIX_PATH}:${CMAKE_PREFIX_PATH}
+exec "$@"