Add librealsense to Docker image

.dockerignore

@@ -0,0 +1 @@
+.git/

Dockerfile

@@ -20,8 +20,17 @@ RUN apt-get update && apt-get install -y \
     protobuf-compiler \
  && rm -rf /var/lib/apt/lists/*
 
+# librealsense cannot be installed in this container; see
+# https://github.com/IntelRealSense/librealsense/issues/4781
+
+# Installation of librealsense fix
+COPY docker/build-librealsense.sh /tmp/build-librealsense.sh
+RUN mkdir -p /tmp/librealsense && cd /tmp/librealsense && /tmp/build-librealsense.sh \
+ && rm -rf /tmp/librealsense \
+ && rm -rf /var/lib/apt/lists/*
+
 # Install packages the Home Service Robot? project
-RUN apt-get update && apt-get install -y \
+RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y \
     ros-kinetic-gmapping \
     ros-kinetic-joy \
     ros-kinetic-turtlebot \

README.md

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+# Home Service Robot
+
+To build the project, you can try executing `./run-nvidia.sh` to drop
+into an X11 aware Docker container with NVIDIA GPU support.
+
+## Docker environment
+
+An issue exists with ROS Kinetic and TurtleBot in Docker, since the TurtleBot packages rely on
+`librealsense`, which in turn depends on a Kernel module that cannot be installed. This is pointed out by
+[IntelRealSense/librealsense#4781](https://github.com/IntelRealSense/librealsense/issues/4781), which
+(thankfully) also provides a workaround. That workaround is implemented in [`docker/build-librealsense.sh`](docker/build-librealsense.sh) and is executed as part of the Docker image build in [`build-docker.sh`](build-docker.sh).
+
+## Building with CLion IDE
+
+**Note:** This does not _really_ work, as CLion will be unable to find generated headers. It's still a bit
+          better than doing everything the hard way.
+
+The full requirements for setting up CLion are given in the [sunsided/robond-ros-docker](https://github.com/sunsided/robond-ros-docker)
+repository. In short, run SSHD in Docker, configure a Remote Host build to connect to it, then configure
+the your build settings for ROS. For this repo and the included Dockerfile, this configuration will do:
+
+**CMake options:**
+
+```
+-DCATKIN_DEVEL_PREFIX:PATH=/workspace/devel -DCMAKE_PREFIX_PATH=/workspace/devel;/opt/ros/kinetic;/opt/ros/kinetic/share
+```
+
+**Environment:**
+
+```
+ROS_ROOT=/opt/ros/kinetic/share/ros;ROS_PACKAGE_PATH=/workspace/src:/opt/ros/kinetic/share;ROS_MASTER_URI=http://localhost:11311;ROS_PYTHON_VERSION=2;ROS_VERSION=1;ROSLISP_PACKAGE_DIRECTORIES=/workspace/devel/share/common-lisp;ROS_DISTRO=kinetic;ROS_ETC_DIR=/opt/ros/kinetic/etc/ros;PYTHONPATH=/opt/ros/kinetic/lib/python2.7/dist-packages;PKG_CONFIG_PATH=/workspace/devel/lib/pkgconfig:/opt/ros/kinetic/lib/pkgconfig:/opt/ros/kinetic/lib/x86_64-linux-gnu/pkgconfig;LD_LIBRARY_PATH=/workspace/devel/lib:/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:$LD_LIBRARY_PATH;PATH=/opt/ros/kinetic/bin:$PATH
+```

docker/build-librealsense.sh

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+#!/usr/bin/env bash
+# see https://github.com/IntelRealSense/librealsense/issues/4781
+
+export DEBIAN_FRONTEND=noninteractive
+
+# basic container setup
+apt-get update
+apt-get install -y lsb-release
+apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list
+apt-get update
+
+# dependencies needed by librealsense. `deb -i` will not resolve these
+apt-get install -y binutils cpp cpp-5 dkms fakeroot gcc gcc-5 kmod libasan2 libatomic1 libc-dev-bin libc6-dev libcc1-0 libcilkrts5 libfakeroot libgcc-5-dev libgmp10 libgomp1 libisl15 libitm1 liblsan0 libmpc3 libmpfr4 libmpx0 libquadmath0 libssl-dev libssl-doc libtsan0 libubsan0 libusb-1.0-0 libusb-1.0-0-dev libusb-1.0-doc linux-headers-4.4.0-159 linux-headers-4.4.0-159-generic linux-headers-generic linux-libc-dev make manpages manpages-dev menu patch zlib1g-dev
+apt-get install -y libssl-dev libssl-doc libusb-1.0-0 libusb-1.0-0-dev libusb-1.0-doc linux-headers-4.4.0-159 linux-headers-4.4.0-159-generic linux-headers-generic zlib1g-dev
+
+# modify librealsense deb (unpack, replace script, repack)
+apt-get download ros-kinetic-librealsense
+dpkg-deb -R ros-kinetic-librealsense*.deb ros-rslib/
+
+wget https://gist.githubusercontent.com/dizz/404ef259a15e1410d692792da0c27a47/raw/3769e80a051b5f2ce2a08d4ee6f79c766724f495/postinst
+chmod +x postinst
+cp postinst ros-rslib/DEBIAN
+
+PACKAGE_VERSION=$(cat ros-rslib/DEBIAN/control | grep Version | cut -d'-' -f1 | cut -d' ' -f2)
+PACKAGE_DATE=$(cat ros-rslib/DEBIAN/control | grep Version | cut -d'-' -f3)
+PACKAGE_NAME=ros-kinetic-librealsense_${PACKAGE_VERSION}-0xenial-${PACKAGE_DATE}_icrlab_amd64.deb
+
+echo ${PACKAGE_VERSION} ${PACKAGE_DATE}
+
+dpkg-deb -b ./ros-rslib/ ${PACKAGE_NAME}
+
+# install container friendly libsense
+dpkg -i ${PACKAGE_NAME}
+
+# lock from updates
+apt-mark hold ros-kinetic-librealsense