From 2c0aae45d64927449402ff6bae8398fb39c25bda Mon Sep 17 00:00:00 2001
From: Pimpest <82343504+pimpest@users.noreply.github.com>
Date: Mon, 6 Apr 2026 19:20:36 +0200
Subject: [PATCH] Updated docker file to use custom libcamera fork

---
 .gitmodules                |  3 +++
 Dockerfile                 | 28 ++++++++++++++++++++++++++--
 ext/camera_ros             |  1 +
 scripts/toid_base_build.sh |  3 ++-
 4 files changed, 32 insertions(+), 3 deletions(-)
 create mode 160000 ext/camera_ros

diff --git a/.gitmodules b/.gitmodules
index 4c994e1..9963ab5 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +1,6 @@
 [submodule "ext/BehaviorTree.ROS2"]
 	path = ext/BehaviorTree.ROS2
 	url = https://github.com/BehaviorTree/BehaviorTree.ROS2.git
+[submodule "ext/camera_ros"]
+	path = ext/camera_ros
+	url = https://github.com/christianrauch/camera_ros.git
diff --git a/Dockerfile b/Dockerfile
index c980ba2..d007a35 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,4 +1,4 @@
-FROM ros:jazzy-ros-base
+FROM ros:jazzy-perception
 
 ENV DEBIAN_FRONTEND=noninteractive
 
@@ -6,10 +6,28 @@ ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && apt-get install -y \
     python3-colcon-common-extensions \
     python3-rosdep \
+    meson cmake \
     build-essential \
     udev \
     git
 
+# ---------- Libcamera ----------
+
+WORKDIR /extras
+
+RUN apt-get install -y libboost-dev \
+    libgnutls28-dev openssl libtiff5-dev \
+    pybind11-dev \
+    qtbase5-dev libqt5core5a libqt5gui5 libqt5widgets5 \
+    python3-yaml python3-ply python3-jinja2 python3-pip\
+    libglib2.0-dev libgstreamer-plugins-base1.0-dev \
+    build-essential
+
+RUN git clone https://github.com/raspberrypi/libcamera.git \
+    && cd libcamera \
+    && 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
+
 # ---------- Initialize rosdep ----------
 RUN rosdep init || true
 RUN rosdep update
@@ -22,13 +40,19 @@ COPY toid_bot_description/package.xml    toid_bot_description/package.xml
 COPY toid_control/package.xml            toid_control/package.xml
 COPY toid_msgs/package.xml               toid_msgs/package.xml
 COPY toid_odometry/package.xml           toid_odometry/package.xml
+COPY toid_lidar/package.xml              toid_lidar/package.xml
+COPY toid_interaction/package.xml        toid_interaction/package.xml
+COPY toid_costmaps/package.xml           toid_costmaps/package.xml
+COPY toid_bt/package.xml                 toid_bt/package.xml
 COPY toid_spinner_controller/package.xml toid_spinner_controller/package.xml
 COPY toid_behaviors/package.xml          toid_behaviors/package.xml
 COPY toid_navigation/package.xml         toid_navigation/package.xml
+COPY ext/camera_ros/package.xml          ext/camera_ros/package.xml
+COPY ext/BehaviorTree.ROS2/              ext/BehaviorTree.ROS2/
 
 # ---------- Install dependencies ----------
 RUN . /opt/ros/jazzy/setup.sh && \
-    rosdep install --from-paths ./ --ignore-src -r -y \
+    rosdep install --from-paths ./ --ignore-src -r -y --skip-keys=libcamera \
     && rm -rf /var/lib/apt/lists/*
 
 RUN rm -rf ./*
diff --git a/ext/camera_ros b/ext/camera_ros
new file mode 160000
index 0000000..121c98a
--- /dev/null
+++ b/ext/camera_ros
@@ -0,0 +1 @@
+Subproject commit 121c98a7fef9ea745ad000ff28bf48da6dee994a
diff --git a/scripts/toid_base_build.sh b/scripts/toid_base_build.sh
index fff53f7..0c1190f 100755
--- a/scripts/toid_base_build.sh
+++ b/scripts/toid_base_build.sh
@@ -2,4 +2,5 @@
 
 source /opt/ros/jazzy/setup.bash
 
-colcon build --packages-up-to-regex "toid_(?!bt)"
\ No newline at end of file
+colcon build --packages-up-to-regex "toid_(?!bt)"
+colcon build --packages-up-to-regex "camera_ros"
\ No newline at end of file