Dockerfile for ROS2 Humble + Intel Realsense SDK (librealsense)

This template will get you set up using ROS2 with VSCode as your IDE.
This template is adopted from Allison Thackston
Instructions to use this template can be found on this repository

Dockerfile

To install librealsense in your docker container, there are multiple options:

Option 1: Using instructions from distribution_linux.md

RUN mkdir -p /etc/apt/keyrings && curl -sSf https://librealsense.intel.com/Debian/librealsense.pgp | sudo tee /etc/apt/keyrings/librealsense.pgp > /dev/null
RUN echo "deb [signed-by=/etc/apt/keyrings/librealsense.pgp] https://librealsense.intel.com/Debian/apt-repo `lsb_release -cs` main" | sudo tee /etc/apt/sources.list.d/librealsense.list

RUN apt-get update \
 && apt-get install -y --no-install-recommends \
    build-essential \
    cmake \
    git-all \
    libusb-1.0-0 \
    udev \
    software-properties-common \
 && rm -rf /var/lib/apt/lists/*

# Installing realsense-viewer
RUN apt-get update \
 && apt-get install -y --no-install-recommends \
    librealsense2-dkms \
    librealsense2-utils \ 
 && rm -rf /var/lib/apt/lists/

The above option failed for me, because the librealsense packages could not find the kernel version of my system, and were trying to build for a default kernel version. If you encounter a similar problem, you should try using this option.

Option 2: Configuring linux-headers for the librealsense packages

RUN mkdir -p /etc/apt/keyrings && curl -sSf https://librealsense.intel.com/Debian/librealsense.pgp | sudo tee /etc/apt/keyrings/librealsense.pgp > /dev/null
RUN echo "deb [signed-by=/etc/apt/keyrings/librealsense.pgp] https://librealsense.intel.com/Debian/apt-repo `lsb_release -cs` main" | sudo tee /etc/apt/sources.list.d/librealsense.list
    
RUN apt-get update \
 && apt-get install -y --no-install-recommends \
    build-essential \
    cmake \
    git-all \
    libusb-1.0-0 \
    udev \
    software-properties-common \
 && rm -rf /var/lib/apt/lists/*

RUN apt-get update && apt-get install -y wget && \
    KERNEL_VERSION=$(uname -r) && \
    wget http://archive.ubuntu.com/ubuntu/pool/main/l/linux/linux-headers-${KERNEL_VERSION}_all.deb && \
    wget http://archive.ubuntu.com/ubuntu/pool/main/l/linux/linux-headers-${KERNEL_VERSION}-generic_${KERNEL_VERSION}_amd64.deb && \
    dpkg -i linux-headers-${KERNEL_VERSION}*.deb && \
    apt-get install -f -y

# Installing realsense-viewer
RUN apt-get update \
 && apt-get install -y --no-install-recommends \
    librealsense2-dkms \
    librealsense2-utils \ 
 && rm -rf /var/lib/apt/lists/

If the above option fails, in case you have a non-generic kernel version, you can upgrade it by running

sudo apt dist-upgrade

However, if you don't want to modify the kernel version on your system, you can use this option

Option 3: Using LibUVC-backend installation

RUN apt-get update \
 && apt-get install -y --no-install-recommends \
    build-essential \
    cmake \
    git-all \
    libusb-1.0-0 \
    udev \
    software-properties-common \
 && rm -rf /var/lib/apt/lists/*

RUN wget https://github.com/IntelRealSense/librealsense/raw/master/scripts/libuvc_installation.sh
RUN chmod +x libuvc_installation.sh
RUN /bin/bash -c "./libuvc_installation.sh"