383 add arm support for realsense and zed

.github/workflows/docker.yml

@@ -97,17 +97,12 @@ jobs:
             ] | map(select(.name as $n | $changed | index($n)))'
           }
 
-          # TODO remove if-statement after zed/realsense-arm64 is supported
           expand_matrix() {
             local original_matrix=$1
             echo "$original_matrix" | jq -c '[
               .[] |
-              if .name == "alliander_realsense" or .name == "alliander_zed" then
-                . + {"arch": "amd64", "runner": "ubuntu-24.04"}
-              else
                 (. + {"arch": "amd64", "runner": "ubuntu-24.04"}),
                 (. + {"arch": "arm64", "runner": "ubuntu-24.04-arm"})
-              end
             ]'
           }
 
@@ -238,17 +233,10 @@ jobs:
 
       - name: Create manifest for ${{ matrix.repository }}
         run: |
-          # TODO remove this when realsense-arm64 is supported
-          if docker manifest inspect allianderrobotics/${{ matrix.repository }}:latest-arm64 > /dev/null 2>&1; then
-            docker buildx imagetools create \
-              -t allianderrobotics/${{ matrix.repository }}:latest \
-              allianderrobotics/${{ matrix.repository }}:latest-amd64 \
-              allianderrobotics/${{ matrix.repository }}:latest-arm64
-          else
-            docker buildx imagetools create \
-              -t allianderrobotics/${{ matrix.repository }}:latest \
-              allianderrobotics/${{ matrix.repository }}:latest-amd64
-          fi
+          docker buildx imagetools create \
+            -t allianderrobotics/${{ matrix.repository }}:latest \
+            allianderrobotics/${{ matrix.repository }}:latest-amd64 \
+            allianderrobotics/${{ matrix.repository }}:latest-arm64
 
   build-cuda:
     strategy:
@@ -357,17 +345,10 @@ jobs:
 
       - name: Create manifest for ${{ matrix.repository }}
         run: |
-          # TODO fix this once zed-arm64 is supported
-          if docker manifest inspect allianderrobotics/${{ matrix.repository }}:latest-arm64 > /dev/null 2>&1; then
-            docker buildx imagetools create \
-              -t allianderrobotics/${{ matrix.repository }}:latest \
-              allianderrobotics/${{ matrix.repository }}:latest-amd64 \
-              allianderrobotics/${{ matrix.repository }}:latest-arm64
-          else
-            docker buildx imagetools create \
-              -t allianderrobotics/${{ matrix.repository }}:latest \
-              allianderrobotics/${{ matrix.repository }}:latest-amd64
-          fi
+          docker buildx imagetools create \
+            -t allianderrobotics/${{ matrix.repository }}:latest \
+            allianderrobotics/${{ matrix.repository }}:latest-amd64 \
+            allianderrobotics/${{ matrix.repository }}:latest-arm64
 
   linting:
     runs-on: ubuntu-24.04
@@ -392,6 +373,7 @@ jobs:
         runner: [ubuntu-24.04, ubuntu-24.04-arm]
     runs-on: ${{ matrix.runner }}
     needs: [create-manifests-ubuntu, create-manifests-cuda]
+    if: always()
     steps:
       - uses: actions/checkout@v4
       - name: Free disk space
@@ -409,10 +391,5 @@ jobs:
           cache: "pip"
       - name: Install dependencies
         run: pip install pyyaml mashumaro
-      # TODO remove difference between ARM and non-ARM when zed/realsense-arm64 is supported:
-      - name: Run tests in alliander_tests container (ubuntu-24.04)
-        if: ${{ matrix.runner == 'ubuntu-24.04' }} 
+      - name: Run tests in alliander_tests container
         run: python3 start.py --pytest-no-nvidia
-      - name: Run tests in alliander_tests container (ubuntu-24.04-arm)
-        if: ${{ matrix.runner == 'ubuntu-24.04-arm' }} 
-        run: python3 start.py --pytest-no-nvidia --deselect=alliander_tests/src/alliander_tests/tests/test_camera.py

alliander_realsense/alliander_realsense.Dockerfile

@@ -16,14 +16,15 @@ RUN apt update && apt install -y --no-install-recommends \
   && apt autoremove -y \
   && apt clean
 
-ARG ZIP_URL="https://github.com/IntelRealSense/librealsense/releases/download/v2.57.3/librealsense2_jammy_x86_debians_2_57_3_beta.zip"
 ARG TEMP_DIR="/tmp/realsense_install"
-ARG ZIP_FILE="$TEMP_DIR/librealsense2_jammy_x86_debians_2_57_3_beta.zip"
-RUN mkdir -p "$TEMP_DIR" \
-  && wget -O "$ZIP_FILE" "$ZIP_URL" \
-  && unzip "$ZIP_FILE" -d "$TEMP_DIR" \ 
-  && dpkg -i "$TEMP_DIR"/*.deb \
-  && rm -rf "$TEMP_DIR"
+ARG ZIP_FILE="$TEMP_DIR/librealsense2.zip"
+RUN mkdir -p "$TEMP_DIR"
+RUN if [ $(dpkg --print-architecture) = "amd64" ]; \
+  then wget -O "$ZIP_FILE" "https://github.com/realsenseai/librealsense/releases/download/v2.57.6/librealsense2_noble_x86_debians_2_57_6_beta.zip"; \
+  elif [ $(dpkg --print-architecture) = "arm64" ]; \ 
+  then wget -O "$ZIP_FILE" "https://github.com/realsenseai/librealsense/releases/download/v2.57.6/librealsense2_noble_ARM_debians_2_57_6_beta.zip"; \
+  else echo "Unsupported architecture: $(dpkg --print-architecture)"; exit 1; fi
+RUN unzip "$ZIP_FILE" -d "$TEMP_DIR" && dpkg -i "$TEMP_DIR"/*.deb && rm -rf "$TEMP_DIR"
 
 # Install Realsense Wrapper:
 WORKDIR /$WORKDIR/external

alliander_zed/alliander_zed.Dockerfile

@@ -8,21 +8,18 @@ ARG COLCON_BUILD_SEQUENTIAL
 ENV ROS_DISTRO=jazzy
 
 # Install ZED SDK:
-ARG UBUNTU_RELEASE_YEAR=24      
-ARG CUDA_MAJOR=12              
-ARG CUDA_MINOR=9                
-ARG ZED_SDK_MAJOR=5
-ARG ZED_SDK_MINOR=0
-RUN echo "CUDA Version ${CUDA_MAJOR}.${CUDA_MINOR}.0" > /usr/local/cuda/version.txt || true \
-  && installer="ZED_SDK_Ubuntu${UBUNTU_RELEASE_YEAR}_cuda${CUDA_MAJOR}.${CUDA_MINOR}.run" \
-  && sdk_url="https://download.stereolabs.com/zedsdk/${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}/cu${CUDA_MAJOR}/ubuntu${UBUNTU_RELEASE_YEAR}" \
-  && echo "Downloading ${sdk_url}  →  ${installer} ..." \
-  && wget -q --show-progress -O "${installer}" "${sdk_url}" \
-  && chmod +x "${installer}" \
-  && echo "Running installer …" \
-  && ./"${installer}" -- silent \
+ARG TEMP_DIR="/tmp/zed_install"
+ARG RUN_FILE="$TEMP_DIR/zed_sdk.run"
+RUN mkdir -p "$TEMP_DIR"
+RUN if [ $(dpkg --print-architecture) = "amd64" ]; \
+  then wget -O "$RUN_FILE" "https://stereolabs.sfo2.cdn.digitaloceanspaces.com/zedsdk/5.0/ZED_SDK_Ubuntu24_cuda12.8_tensorrt10.9_v5.0.7.zstd.run"; \
+  elif [ $(dpkg --print-architecture) = "arm64" ]; \ 
+  then wget -O "$RUN_FILE" "https://stereolabs.sfo2.cdn.digitaloceanspaces.com/zedsdk/5.0/ZED_SDK_Tegra_L4T36.4_v5.0.7.zstd.run"; \
+  else echo "Unsupported architecture: $(dpkg --print-architecture)"; exit 1; fi
+RUN chmod +x "${RUN_FILE}" \
+  && "${RUN_FILE}" -- silent \
   && chmod -R u+rwX,go+rX /usr/local/zed \
-  && rm -f "${installer}" \
+  && rm -f "${RUN_FILE}" \
   && rm -rf /var/lib/apt/lists/*
 
 # Install ZED Wrapper: