Launching realsense2_camera node in the container

[Tiryoh]

1. Launch the container on Ubuntu machine

I guess macOS or Windows cannot mount the device to the continer.

reference: IntelRealSense/realsense-ros#1816

docker run --rm -it -p 6080:80 --shm-size=512m -v /dev:/dev --privileged tiryoh/ros2-desktop-vnc:galactic

2. Install the driver to the container

reference: https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u
sudo apt-get install -y librealsense2-utils  librealsense2-dkms  librealsense2-dev librealsense2-dbg

realsense-viewer is available too.

realsense-viewer

3. Install the realsense2_camera package

reference: https://github.com/IntelRealSense/realsense-ros/blob/ros2/README.md

sudo apt-get install -y ros-$ROS_DISTRO-realsense2-camera

4. Launch nodes

reference: IntelRealSense/realsense-ros#2347

ros2 launch realsense2_camera rs_launch.py align_depth.enable:=true pointcloud.enable:=true