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Merged
GyuH13 merged 5 commits into from
Dec 11, 2025
Merged

Support Pi camera launch in Docker containers #1130

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c76863c
docker camera update
GyuH13 Dec 9, 2025
bd9be8b
bump
GyuH13 Dec 9, 2025
725f7bc
add license header
GyuH13 Dec 9, 2025
05ff03a
license error fix
GyuH13 Dec 9, 2025
042a4e4
fix copyright header
GyuH13 Dec 9, 2025
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33 changes: 33 additions & 0 deletions docker/humble/Dockerfile
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Expand Up @@ -21,12 +21,34 @@ RUN apt-get update && \
ros-${ROS_DISTRO}-cartographer-ros \
ros-${ROS_DISTRO}-navigation2 \
ros-${ROS_DISTRO}-nav2-bringup \
ros-${ROS_DISTRO}-nav2-route \
ros-${ROS_DISTRO}-turtlebot3-msgs \
ros-${ROS_DISTRO}-dynamixel-sdk \
ros-${ROS_DISTRO}-xacro \
ros-${ROS_DISTRO}-hls-lfcd-lds-driver \
ros-${ROS_DISTRO}-ld08-driver \
ros-${ROS_DISTRO}-coin-d4-driver \
ros-${ROS_DISTRO}-camera-ros \
ros-${ROS_DISTRO}-urdf \
&& rm -rf /var/lib/apt/lists/*

RUN apt-get update && \
apt-get install -y --no-install-recommends \
python3-pip \
python3-jinja2 \
ninja-build \
libgnutls28-dev \
openssl \
libtiff-dev \
pybind11-dev \
qtbase5-dev \
libqt5core5a \
libqt5widgets5 \
cmake \
python3-yaml \
python3-ply \
libglib2.0-dev \
libgstreamer-plugins-base1.0-dev \
&& rm -rf /var/lib/apt/lists/*
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WORKDIR ${COLCON_WS}
Expand All @@ -39,10 +61,21 @@ RUN bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash && \
cd ${COLCON_WS} && \
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release"

RUN python3 -m pip config set global.break-system-packages true
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RUN pip3 install meson

WORKDIR /root
RUN git clone -b v0.5.2 --depth 1 https://github.com/raspberrypi/libcamera.git && \
cd libcamera && \
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meson setup build --buildtype=release -Dpipelines=rpi/vc4,rpi/pisp -Dipas=rpi/vc4,rpi/pisp -Dv4l2=true -Dgstreamer=enabled -Dtest=false -Dlc-compliance=disabled -Dcam=disabled -Dqcam=disabled -Ddocumentation=disabled -Dpycamera=enabled && \
ninja -C build install && \
ldconfig
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RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc && \
echo "source ${COLCON_WS}/install/setup.bash" >> ~/.bashrc && \
echo "alias cb='colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'" >> ~/.bashrc && \
echo "export ROS_DOMAIN_ID=30 # TURTLEBOT3" >> ~/.bashrc && \
echo 'export LD_LIBRARY_PATH=/usr/local/lib/aarch64-linux-gnu:$LD_LIBRARY_PATH' >> ~/.bashrc && \
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echo "# export TURTLEBOT3_MODEL= # burger, waffle, waffle_pi" >> ~/.bashrc && \
echo "# export LDS_MODEL= # LDS-01, LDS-02, LDS-03" >> ~/.bashrc

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3 changes: 2 additions & 1 deletion docker/humble/docker-compose.yml
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Expand Up @@ -4,7 +4,7 @@ services:
image: robotis/turtlebot3:humble-latest
# build:
# context: .
# dockerfile: Dockerfile.pc
# dockerfile: Dockerfile
tty: true
restart: unless-stopped
cap_add:
Expand All @@ -22,6 +22,7 @@ services:
volumes:
- /dev:/dev
- /dev/shm:/dev/shm
- /run/udev:/run/udev
- /tmp/.X11-unix:/tmp/.X11-unix:rw
- /tmp/.docker.xauth:/tmp/.docker.xauth:rw
- ./workspace:/workspace
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32 changes: 32 additions & 0 deletions docker/jazzy/Dockerfile
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Expand Up @@ -28,6 +28,27 @@ RUN apt-get update && \
ros-${ROS_DISTRO}-hls-lfcd-lds-driver \
ros-${ROS_DISTRO}-ld08-driver \
ros-${ROS_DISTRO}-coin-d4-driver \
ros-${ROS_DISTRO}-camera-ros \
ros-${ROS_DISTRO}-urdf \
&& rm -rf /var/lib/apt/lists/*

RUN apt-get update && \
apt-get install -y --no-install-recommends \
python3-pip \
python3-jinja2 \
ninja-build \
libgnutls28-dev \
openssl \
libtiff-dev \
pybind11-dev \
qtbase5-dev \
libqt5core5a \
libqt5widgets5 \
cmake \
python3-yaml \
python3-ply \
libglib2.0-dev \
libgstreamer-plugins-base1.0-dev \
&& rm -rf /var/lib/apt/lists/*
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WORKDIR ${COLCON_WS}
Expand All @@ -40,10 +61,21 @@ RUN bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash && \
cd ${COLCON_WS} && \
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release"

RUN python3 -m pip config set global.break-system-packages true
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RUN pip3 install meson

WORKDIR /root
RUN git clone -b v0.5.2 --depth 1 https://github.com/raspberrypi/libcamera.git && \
cd libcamera && \
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meson setup build --buildtype=release -Dpipelines=rpi/vc4,rpi/pisp -Dipas=rpi/vc4,rpi/pisp -Dv4l2=true -Dgstreamer=enabled -Dtest=false -Dlc-compliance=disabled -Dcam=disabled -Dqcam=disabled -Ddocumentation=disabled -Dpycamera=enabled && \
ninja -C build install && \
ldconfig
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RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc && \
echo "source ${COLCON_WS}/install/setup.bash" >> ~/.bashrc && \
echo "alias cb='colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'" >> ~/.bashrc && \
echo "export ROS_DOMAIN_ID=30 # TURTLEBOT3" >> ~/.bashrc && \
echo 'export LD_LIBRARY_PATH=/usr/local/lib/aarch64-linux-gnu:$LD_LIBRARY_PATH' >> ~/.bashrc && \
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echo "# export TURTLEBOT3_MODEL= # burger, waffle, waffle_pi" >> ~/.bashrc && \
echo "# export LDS_MODEL= # LDS-01, LDS-02, LDS-03" >> ~/.bashrc

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1 change: 1 addition & 0 deletions docker/jazzy/docker-compose.yml
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Expand Up @@ -22,6 +22,7 @@ services:
volumes:
- /dev:/dev
- /dev/shm:/dev/shm
- /run/udev:/run/udev
- /tmp/.X11-unix:/tmp/.X11-unix:rw
- /tmp/.docker.xauth:/tmp/.docker.xauth:rw
- ./workspace:/workspace
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5 changes: 5 additions & 0 deletions turtlebot3/CHANGELOG.rst
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Expand Up @@ -2,6 +2,11 @@
Changelog for package turtlebot3
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

2.3.5 (2025-12-09)
------------------
* Supported Pi Camera in Docker containers for TurtleBot3 with Humble and Jazzy
* Contributors: Hyungyu Kim

2.3.4 (2025-10-24)
------------------
* Supported Docker for TurtleBot3 with Humble and Jazzy
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2 changes: 1 addition & 1 deletion turtlebot3/package.xml
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Expand Up @@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>turtlebot3</name>
<version>2.3.4</version>
<version>2.3.5</version>
<description>
ROS 2 packages for TurtleBot3
</description>
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4 changes: 4 additions & 0 deletions turtlebot3_bringup/CHANGELOG.rst
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Expand Up @@ -2,6 +2,10 @@
Changelog for package turtlebot3_bringup
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

2.3.5 (2025-12-09)
------------------
* None

2.3.4 (2025-10-24)
------------------
* None
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2 changes: 1 addition & 1 deletion turtlebot3_bringup/package.xml
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Expand Up @@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>turtlebot3_bringup</name>
<version>2.3.4</version>
<version>2.3.5</version>
<description>
ROS 2 launch scripts for starting the TurtleBot3
</description>
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4 changes: 4 additions & 0 deletions turtlebot3_cartographer/CHANGELOG.rst
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Expand Up @@ -2,6 +2,10 @@
Changelog for package turtlebot3_cartographer
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

2.3.5 (2025-12-09)
------------------
* None

2.3.4 (2025-10-24)
------------------
* None
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2 changes: 1 addition & 1 deletion turtlebot3_cartographer/package.xml
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Expand Up @@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>turtlebot3_cartographer</name>
<version>2.3.4</version>
<version>2.3.5</version>
<description>
ROS 2 launch scripts for cartographer
</description>
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4 changes: 4 additions & 0 deletions turtlebot3_description/CHANGELOG.rst
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Expand Up @@ -2,6 +2,10 @@
Changelog for package turtlebot3_description
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

2.3.5 (2025-12-09)
------------------
* None

2.3.4 (2025-10-24)
------------------
* None
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2 changes: 1 addition & 1 deletion turtlebot3_description/package.xml
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Expand Up @@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>turtlebot3_description</name>
<version>2.3.4</version>
<version>2.3.5</version>
<description>
3D models of the TurtleBot3 for simulation and visualization
</description>
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4 changes: 4 additions & 0 deletions turtlebot3_example/CHANGELOG.rst
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Expand Up @@ -2,6 +2,10 @@
Changelog for package turtlebot3_example
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

2.3.5 (2025-12-09)
------------------
* None

2.3.4 (2025-10-24)
------------------
* None
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2 changes: 1 addition & 1 deletion turtlebot3_example/package.xml
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Expand Up @@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>turtlebot3_example</name>
<version>2.3.4</version>
<version>2.3.5</version>
<description>
This package provides four basic examples for TurtleBot3 (i.e., interactive marker, object detection, patrol and position control).
</description>
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2 changes: 1 addition & 1 deletion turtlebot3_example/setup.py
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Expand Up @@ -5,7 +5,7 @@

setup(
name=package_name,
version='2.3.4',
version='2.3.5',
packages=find_packages(),
data_files=[
('share/ament_index/resource_index/packages', ['resource/' + package_name]),
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4 changes: 4 additions & 0 deletions turtlebot3_navigation2/CHANGELOG.rst
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Expand Up @@ -2,6 +2,10 @@
Changelog for package turtlebot3_navigation2
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

2.3.5 (2025-12-09)
------------------
* None

2.3.4 (2025-10-24)
------------------
* None
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2 changes: 1 addition & 1 deletion turtlebot3_navigation2/package.xml
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Expand Up @@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>turtlebot3_navigation2</name>
<version>2.3.4</version>
<version>2.3.5</version>
<description>
ROS 2 launch scripts for navigation2
</description>
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4 changes: 4 additions & 0 deletions turtlebot3_node/CHANGELOG.rst
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Expand Up @@ -2,6 +2,10 @@
Changelog for package turtlebot3_node
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

2.3.5 (2025-12-09)
------------------
* None

2.3.4 (2025-10-24)
------------------
* None
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2 changes: 1 addition & 1 deletion turtlebot3_node/package.xml
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Expand Up @@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>turtlebot3_node</name>
<version>2.3.4</version>
<version>2.3.5</version>
<description>
TurtleBot3 driver node that include diff drive controller, odometry and tf node
</description>
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4 changes: 4 additions & 0 deletions turtlebot3_teleop/CHANGELOG.rst
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Changelog for package turtlebot3_teleop
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

2.3.5 (2025-12-09)
------------------
* None

2.3.4 (2025-10-24)
------------------
* None
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2 changes: 1 addition & 1 deletion turtlebot3_teleop/package.xml
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Expand Up @@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>turtlebot3_teleop</name>
<version>2.3.4</version>
<version>2.3.5</version>
<description>
Teleoperation node using keyboard for TurtleBot3.
</description>
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2 changes: 1 addition & 1 deletion turtlebot3_teleop/setup.py
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Expand Up @@ -5,7 +5,7 @@

setup(
name=package_name,
version='2.3.4',
version='2.3.5',
packages=find_packages(exclude=[]),
data_files=[
('share/ament_index/resource_index/packages', ['resource/' + package_name]),
Expand Down
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