Dockerfile

# ROS2 Humble + RealSense D455 Docker Image
FROM ros:humble-ros-base

# 환경 변수 설정
ENV DEBIAN_FRONTEND=noninteractive
ENV ROS_DISTRO=humble

# 시스템 업데이트 및 기본 패키지 설치
RUN apt-get update && apt-get install -y \
    software-properties-common \
    apt-transport-https \
    ca-certificates \
    gnupg \
    wget \
    git \
    build-essential \
    cmake \
    pkg-config \
    libssl-dev \
    && rm -rf /var/lib/apt/lists/*

# RealSense SDK 설치
RUN apt-get update && apt-get install -y \
    libusb-1.0-0-dev \
    libglfw3-dev \
    libgl1-mesa-dev \
    libglu1-mesa-dev \
    && rm -rf /var/lib/apt/lists/*

# Intel RealSense 저장소 추가
RUN mkdir -p /etc/apt/keyrings \
    && wget -qO - https://librealsense.intel.com/Debian/librealsense.pgp | tee /etc/apt/keyrings/librealsense.pgp > /dev/null \
    && echo "deb [signed-by=/etc/apt/keyrings/librealsense.pgp] https://librealsense.intel.com/Debian/apt-repo `lsb_release -cs` main" | \
    tee /etc/apt/sources.list.d/librealsense.list

# RealSense 라이브러리 설치
RUN apt-get update && apt-get install -y \
    librealsense2-dkms \
    librealsense2-utils \
    librealsense2-dev \
    librealsense2-dbg \
    && rm -rf /var/lib/apt/lists/*

# OpenCV 및 ROS2 관련 패키지 설치
RUN apt-get update && apt-get install -y \
    ros-${ROS_DISTRO}-cv-bridge \
    ros-${ROS_DISTRO}-image-transport \
    ros-${ROS_DISTRO}-vision-opencv \
    libopencv-dev \
    python3-opencv \
    && rm -rf /var/lib/apt/lists/*

# 작업 디렉토리 생성
RUN mkdir -p /ros2_ws/src

# 소스 코드 복사
COPY . /ros2_ws/src/vision/

# 작업 디렉토리 설정
WORKDIR /ros2_ws

# ROS2 환경 설정 및 빌드
RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash && \
    colcon build --symlink-install && \
    rm -rf build log"

# 환경 설정 스크립트 생성
RUN echo '#!/bin/bash\n\
source /opt/ros/${ROS_DISTRO}/setup.bash\n\
source /ros2_ws/install/setup.bash\n\
exec "$@"' > /ros_entrypoint.sh && \
    chmod +x /ros_entrypoint.sh

# USB 디바이스 권한 설정을 위한 udev rules 복사 준비
RUN mkdir -p /etc/udev/rules.d

# 엔트리포인트 설정
ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["bash"]