I have followed the example but encountered when building the docker image (on my Mac M1). I have to update the "--platform" parameter of docker build command to "linux/arm64" instead of "arm64". Otherwise, it will prompt error "failed to solve: no match for platform in manifest".
And then, the docker build process get stuck at step #7 with error as below:
Sometimes, the error is:
WARNING: experimental flag squash is removed with BuildKit. You should squash inside build using a multi-stage Dockerfile for efficiency.
[+] Building 38.4s (10/16) docker:desktop-linux
[+] Building 340.5s (11/16) docker:desktop-linux
=> [internal] load .dockerignore 0.0s
=> => transferring context: 2B 0.0s
=> [internal] load build definition from Dockerfile 0.0s
=> => transferring dockerfile: 1.49kB 0.0s
=> [internal] load metadata for docker.io/luxonis/depthai-ros-rae:latest 2.1s
=> [ 1/12] FROM docker.io/luxonis/depthai-ros-rae@sha256:5ac6773187d4564a28deed1e013b52a8349583dc8abfeea83220029bca278130 0.0s
=> => resolve docker.io/luxonis/depthai-ros-rae@sha256:5ac6773187d4564a28deed1e013b52a8349583dc8abfeea83220029bca278130 0.0s
=> [internal] load build context 0.0s
=> => transferring context: 12.77kB 0.0s
=> CACHED [ 2/12] RUN apt-get update && apt-get -y install --no-install-recommends software-properties-common git libusb-1.0-0-dev wget zsh python3-colcon-common-extensions python3-rosdep build-essen 0.0s
=> CACHED [ 3/12] RUN mkdir -p /ws/src 0.0s
=> CACHED [ 4/12] COPY ./ ./ws/src/rae-ros 0.0s
=> CACHED [ 5/12] RUN rm -rf ./ws/src/rae-ros/rae_gazebo 0.0s
=> CACHED [ 6/12] RUN cd ./ws/ && apt update && rosdep update && rosdep install --from-paths src --ignore-src -y --skip-keys depthai --skip-keys depthai_bridge --skip-keys depthai_ros_driver --skip-ke 0.0s
=> ERROR [ 7/12] RUN cd ./ws/ && . /opt/ros/humble/setup.sh && . /depthai_ws/install/setup.sh && colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo 338.2s
------
[ 7/12] RUN cd ./ws/ && . /opt/ros/humble/setup.sh && . /depthai_ws/install/setup.sh && colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo:
1.279 Starting >>> rae_msgs
1.291 Starting >>> rae_bringup
1.294 Starting >>> rae_camera
1.298 Starting >>> rae_description
2.296 Finished <<< rae_description [1.00s]
2.563 Finished <<< rae_bringup [1.27s]
4.855 Finished <<< rae_msgs [3.58s]
4.855 Starting >>> rae_hw
316.3 --- stderr: rae_camera
316.3 CMake Warning (dev) at CMakeLists.txt:67 (add_executable):
316.3 Policy CMP0115 is not set: Source file extensions must be explicit. Run
316.3 "cmake --help-policy CMP0115" for policy details. Use the cmake_policy
316.3 command to set the policy and suppress this warning.
316.3
316.3 File:
316.3
316.3 /ws/src/rae-ros/rae_camera/src/perception_ipc_rtabmap.cpp
316.3 This warning is for project developers. Use -Wno-dev to suppress it.
316.3
316.3 c++: fatal error: Killed signal terminated program cc1plus
316.3 compilation terminated.
316.3 gmake[2]: *** [CMakeFiles/yolo.dir/build.make:76: CMakeFiles/yolo.dir/src/yolo.cpp.o] Error 1
316.3 gmake[1]: *** [CMakeFiles/Makefile2:232: CMakeFiles/yolo.dir/all] Error 2
316.3 gmake[1]: *** Waiting for unfinished jobs....
316.3 /ws/src/rae-ros/rae_camera/src/stereo_pair.cpp: In function ‘int main()’:
316.3 /ws/src/rae-ros/rae_camera/src/stereo_pair.cpp:23:28: warning: ‘void dai::node::ColorCamera::setColorOrder(dai::ColorCameraProperties::ColorOrder)’ is deprecated: Use 'setPreviewType()' instead [-Wdeprecated-declarations]
316.3 23 | monoLeft->setColorOrder(dai::ColorCameraProperties::ColorOrder::BGR);
316.3 | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
316.3 In file included from /usr/local/include/depthai/pipeline/nodes.hpp:6,
316.3 from /usr/local/include/depthai/depthai.hpp:17,
316.3 from /ws/src/rae-ros/rae_camera/src/stereo_pair.cpp:4:
316.3 /usr/local/include/depthai/pipeline/node/ColorCamera.hpp:140:59: note: declared here
316.3 140 | [[deprecated("Use 'setPreviewType()' instead")]] void setColorOrder(ColorCameraProperties::ColorOrder colorOrder);
316.3 | ~~~~~~~~~~~~
316.3 /ws/src/rae-ros/rae_camera/src/stereo_depth.cpp: In function ‘int main()’:
316.3 /ws/src/rae-ros/rae_camera/src/stereo_depth.cpp:36:59: warning: ‘dai::CameraBoardSocket::LEFT’ is deprecated [-Wdeprecated-declarations]
316.3 36 | monoLeftFront->setBoardSocket(dai::CameraBoardSocket::LEFT);
316.3 | ~~~
316.3 In file included from /usr/local/include/depthai/device/CalibrationHandler.hpp:5,
316.3 from /usr/local/include/depthai/depthai.hpp:9,
316.3 from /ws/src/rae-ros/rae_camera/src/stereo_depth.cpp:4:
316.3 /usr/local/include/depthai-shared/common/CameraBoardSocket.hpp:25:5: note: declared here
316.3 25 | LEFT [[deprecated]] = CAM_B,
316.3 | ~~~
316.3 /ws/src/rae-ros/rae_camera/src/stereo_depth.cpp:36:59: warning: ‘dai::CameraBoardSocket::LEFT’ is deprecated [-Wdeprecated-declarations]
316.3 36 | monoLeftFront->setBoardSocket(dai::CameraBoardSocket::LEFT);
316.3 | ~~~
316.3 In file included from /usr/local/include/depthai/device/CalibrationHandler.hpp:5,
316.3 from /usr/local/include/depthai/depthai.hpp:9,
316.3 from /ws/src/rae-ros/rae_camera/src/stereo_depth.cpp:4:
316.3 /usr/local/include/depthai-shared/common/CameraBoardSocket.hpp:25:5: note: declared here
316.3 25 | LEFT [[deprecated]] = CAM_B,
316.3 | ~~~
316.3 /ws/src/rae-ros/rae_camera/src/stereo_depth.cpp:38:60: warning: ‘dai::CameraBoardSocket::RIGHT’ is deprecated [-Wdeprecated-declarations]
316.3 38 | monoRightFront->setBoardSocket(dai::CameraBoardSocket::RIGHT);
316.3 | ~~~~
316.3 In file included from /usr/local/include/depthai/device/CalibrationHandler.hpp:5,
316.3 from /usr/local/include/depthai/depthai.hpp:9,
316.3 from /ws/src/rae-ros/rae_camera/src/stereo_depth.cpp:4:
316.3 /usr/local/include/depthai-shared/common/CameraBoardSocket.hpp:26:5: note: declared here
316.3 26 | RIGHT [[deprecated]] = CAM_C,
316.3 | ~~~~
316.3 /ws/src/rae-ros/rae_camera/src/stereo_depth.cpp:38:60: warning: ‘dai::CameraBoardSocket::RIGHT’ is deprecated [-Wdeprecated-declarations]
316.3 38 | monoRightFront->setBoardSocket(dai::CameraBoardSocket::RIGHT);
316.3 | ~~~~
316.3 In file included from /usr/local/include/depthai/device/CalibrationHandler.hpp:5,
316.3 from /usr/local/include/depthai/depthai.hpp:9,
316.3 from /ws/src/rae-ros/rae_camera/src/stereo_depth.cpp:4:
316.3 /usr/local/include/depthai-shared/common/CameraBoardSocket.hpp:26:5: note: declared here
316.3 26 | RIGHT [[deprecated]] = CAM_C,
316.3 | ~~~~
316.3 /ws/src/rae-ros/rae_camera/src/camera.cpp: In function ‘dai:
ipeline createPipeline(bool, bool)’:
316.3 /ws/src/rae-ros/rae_camera/src/camera.cpp:29:56: warning: ‘dai::CameraBoardSocket::RGB’ is deprecated [-Wdeprecated-declarations]
316.3 29 | camRgb->setBoardSocket(dai::CameraBoardSocket::RGB);
316.3 | ~~
316.3 In file included from /usr/local/include/depthai/common/CameraBoardSocket.hpp:5,
316.3 from /usr/local/include/depthai/device/DeviceBase.hpp:18,
316.3 from /usr/local/include/depthai/device/Device.hpp:14,
316.3 from /ws/src/rae-ros/rae_camera/src/camera.cpp:13:
316.3 /usr/local/include/depthai-shared/common/CameraBoardSocket.hpp:23:5: note: declared here
316.3 23 | RGB [[deprecated]] = CAM_A,
316.3 | ~~
316.3 /ws/src/rae-ros/rae_camera/src/camera.cpp:29:56: warning: ‘dai::CameraBoardSocket::RGB’ is deprecated [-Wdeprecated-declarations]
316.3 29 | camRgb->setBoardSocket(dai::CameraBoardSocket::RGB);
316.3 | ~~
316.3 In file included from /usr/local/include/depthai/common/CameraBoardSocket.hpp:5,
316.3 from /usr/local/include/depthai/device/DeviceBase.hpp:18,
316.3 from /usr/local/include/depthai/device/Device.hpp:14,
316.3 from /ws/src/rae-ros/rae_camera/src/camera.cpp:13:
316.3 /usr/local/include/depthai-shared/common/CameraBoardSocket.hpp:23:5: note: declared here
316.3 23 | RGB [[deprecated]] = CAM_A,
316.3 | ~~
316.3 /ws/src/rae-ros/rae_camera/src/camera.cpp:30:30: warning: ‘void dai::node::ColorCamera::setColorOrder(dai::ColorCameraProperties::ColorOrder)’ is deprecated: Use 'setPreviewType()' instead [-Wdeprecated-declarations]
316.3 30 | camRgb->setColorOrder(dai::ColorCameraProperties::ColorOrder::BGR);
316.3 | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
316.3 In file included from /ws/src/rae-ros/rae_camera/src/camera.cpp:15:
316.3 /usr/local/include/depthai/pipeline/node/ColorCamera.hpp:140:59: note: declared here
316.3 140 | [[deprecated("Use 'setPreviewType()' instead")]] void setColorOrder(ColorCameraProperties::ColorOrder colorOrder);
316.3 | ~~~~~~~~~~~~
316.3 /ws/src/rae-ros/rae_camera/src/camera.cpp:31:31: warning: ‘void dai::node::ColorCamera::setInterleaved(bool)’ is deprecated: Use 'setPreviewType()' instead [-Wdeprecated-declarations]
316.3 31 | camRgb->setInterleaved(false);
316.3 | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~
316.3 In file included from /ws/src/rae-ros/rae_camera/src/camera.cpp:15:
316.3 /usr/local/include/depthai/pipeline/node/ColorCamera.hpp:146:59: note: declared here
316.3 146 | [[deprecated("Use 'setPreviewType()' instead")]] void setInterleaved(bool interleaved);
316.3 | ~~~~~~~~~~~~~
316.3 /ws/src/rae-ros/rae_camera/src/camera.cpp:58:55: warning: ‘dai::CameraBoardSocket::LEFT’ is deprecated [-Wdeprecated-declarations]
316.3 58 | leftFront->setBoardSocket(dai::CameraBoardSocket::LEFT);
316.3 | ~~~
316.3 In file included from /usr/local/include/depthai/common/CameraBoardSocket.hpp:5,
316.3 from /usr/local/include/depthai/device/DeviceBase.hpp:18,
316.3 from /usr/local/include/depthai/device/Device.hpp:14,
316.3 from /ws/src/rae-ros/rae_camera/src/camera.cpp:13:
316.3 /usr/local/include/depthai-shared/common/CameraBoardSocket.hpp:25:5: note: declared here
316.3 25 | LEFT [[deprecated]] = CAM_B,
316.3 | ~~~
316.3 /ws/src/rae-ros/rae_camera/src/camera.cpp:58:55: warning: ‘dai::CameraBoardSocket::LEFT’ is deprecated [-Wdeprecated-declarations]
316.3 58 | leftFront->setBoardSocket(dai::CameraBoardSocket::LEFT);
316.3 | ~~~
316.3 In file included from /usr/local/include/depthai/common/CameraBoardSocket.hpp:5,
316.3 from /usr/local/include/depthai/device/DeviceBase.hpp:18,
316.3 from /usr/local/include/depthai/device/Device.hpp:14,
316.3 from /ws/src/rae-ros/rae_camera/src/camera.cpp:13:
316.3 /usr/local/include/depthai-shared/common/CameraBoardSocket.hpp:25:5: note: declared here
316.3 25 | LEFT [[deprecated]] = CAM_B,
316.3 | ~~~
316.3 /ws/src/rae-ros/rae_camera/src/camera.cpp:60:56: warning: ‘dai::CameraBoardSocket::RIGHT’ is deprecated [-Wdeprecated-declarations]
316.3 60 | rightFront->setBoardSocket(dai::CameraBoardSocket::RIGHT);
316.3 | ~~~~
316.3 In file included from /usr/local/include/depthai/common/CameraBoardSocket.hpp:5,
316.3 from /usr/local/include/depthai/device/DeviceBase.hpp:18,
316.3 from /usr/local/include/depthai/device/Device.hpp:14,
316.3 from /ws/src/rae-ros/rae_camera/src/camera.cpp:13:
316.3 /usr/local/include/depthai-shared/common/CameraBoardSocket.hpp:26:5: note: declared here
316.3 26 | RIGHT [[deprecated]] = CAM_C,
316.3 | ~~~~
316.3 /ws/src/rae-ros/rae_camera/src/camera.cpp:60:56: warning: ‘dai::CameraBoardSocket::RIGHT’ is deprecated [-Wdeprecated-declarations]
316.3 60 | rightFront->setBoardSocket(dai::CameraBoardSocket::RIGHT);
316.3 | ~~~~
316.3 In file included from /usr/local/include/depthai/common/CameraBoardSocket.hpp:5,
316.3 from /usr/local/include/depthai/device/DeviceBase.hpp:18,
316.3 from /usr/local/include/depthai/device/Device.hpp:14,
316.3 from /ws/src/rae-ros/rae_camera/src/camera.cpp:13:
316.3 /usr/local/include/depthai-shared/common/CameraBoardSocket.hpp:26:5: note: declared here
316.3 26 | RIGHT [[deprecated]] = CAM_C,
316.3 | ~~~~
316.3 /ws/src/rae-ros/rae_camera/src/camera.cpp: In function ‘int main(int, char**)’:
316.3 /ws/src/rae-ros/rae_camera/src/camera.cpp:198:135: warning: ‘dai::CameraBoardSocket::RIGHT’ is deprecated [-Wdeprecated-declarations]
316.3 198 | sensor_msgs::msg::CameraInfo rgbCameraInfo = rgbConverter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::RIGHT, width, height);;
316.3 | ~~~~
316.3 In file included from /usr/local/include/depthai/common/CameraBoardSocket.hpp:5,
316.3 from /usr/local/include/depthai/device/DeviceBase.hpp:18,
316.3 from /usr/local/include/depthai/device/Device.hpp:14,
316.3 from /ws/src/rae-ros/rae_camera/src/camera.cpp:13:
316.3 /usr/local/include/depthai-shared/common/CameraBoardSocket.hpp:26:5: note: declared here
316.3 26 | RIGHT [[deprecated]] = CAM_C,
316.3 | ~~~~
316.3 /ws/src/rae-ros/rae_camera/src/camera.cpp:198:135: warning: ‘dai::CameraBoardSocket::RIGHT’ is deprecated [-Wdeprecated-declarations]
316.3 198 | sensor_msgs::msg::CameraInfo rgbCameraInfo = rgbConverter.calibrationToCameraInfo(calibrationHandler, dai::CameraBoardSocket::RIGHT, width, height);;
316.3 | ~~~~
316.3 In file included from /usr/local/include/depthai/common/CameraBoardSocket.hpp:5,
316.3 from /usr/local/include/depthai/device/DeviceBase.hpp:18,
316.3 from /usr/local/include/depthai/device/Device.hpp:14,
316.3 from /ws/src/rae-ros/rae_camera/src/camera.cpp:13:
316.3 /usr/local/include/depthai-shared/common/CameraBoardSocket.hpp:26:5: note: declared here
316.3 26 | RIGHT [[deprecated]] = CAM_C,
316.3 | ~~~~
316.3 c++: fatal error: Killed signal terminated program cc1plus
316.3 compilation terminated.
316.3 gmake[2]: *** [CMakeFiles/stereo_pair.dir/build.make:76: CMakeFiles/stereo_pair.dir/src/stereo_pair.cpp.o] Error 1
316.3 gmake[1]: *** [CMakeFiles/Makefile2:258: CMakeFiles/stereo_pair.dir/all] Error 2
316.3 gmake: *** [Makefile:146: all] Error 2
316.3 ---
316.3 Failed <<< rae_camera [5min 15s, exited with code 2]
337.7 [Processing: rae_camera, rae_hw]
337.7 [Processing: rae_camera, rae_hw]
337.7 [Processing: rae_camera, rae_hw]
337.7 [Processing: rae_camera, rae_hw]
337.7 [Processing: rae_camera, rae_hw]
337.7 [Processing: rae_camera, rae_hw]
337.7 [Processing: rae_camera, rae_hw]
337.7 [Processing: rae_camera, rae_hw]
337.7 [Processing: rae_camera, rae_hw]
337.7 Aborted <<< rae_hw [5min 33s]
337.9
337.9 Summary: 3 packages finished [5min 37s]
337.9 1 package failed: rae_camera
337.9 1 package aborted: rae_hw
337.9 2 packages had stderr output: rae_camera rae_hw
------
Dockerfile:19
--------------------
17 | RUN cd .$WS/ && apt update && rosdep update && rosdep install --from-paths src --ignore-src -y --skip-keys depthai --skip-keys depthai_bridge --skip-keys depthai_ros_driver --skip-keys audio_msgs --skip-keys laserscan_kinect --skip-keys ira_laser_tools
18 |
19 | >>> RUN cd .$WS/ && . /opt/ros/${ROS_DISTRO}/setup.sh && . $UNDERLAY_WS/install/setup.sh && colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=${BUILD_TYPE}
20 |
21 | RUN echo "if [ -f ${WS}/install/setup.zsh ]; then source ${WS}/install/setup.zsh; fi" >> $HOME/.zshrc
--------------------
ERROR: failed to solve: process "/bin/sh -c cd .$WS/ && . /opt/ros/${ROS_DISTRO}/setup.sh && . $UNDERLAY_WS/install/setup.sh && colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=${BUILD_TYPE}" did not complete successfully: exit code: 2