.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

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 ./*

scripts/toid_base_build.sh

@@ -3,3 +3,4 @@
 source /opt/ros/jazzy/setup.bash
 
 colcon build --packages-up-to-regex "toid_(?!bt)"
+colcon build --packages-up-to-regex "camera_ros"