Description 💬

While dockerizing virtual_camera allows the code to be future-proofed, running it the ROS 2 node in a docker currently disallows it from communicating it with ROS systems outside of its container.

This defeats the purpose of dockerizing since virtual_camera would not be able to communicate with any ROS 2 systems when dockerized. Need to address to justify its use in future systems.

Steps To Reproduce 🔨

1. Download the repository.

cd $HOME
git clone https://github.com/cardboardcode/virtual_camera.git --depth 1

2. Build the docker image and container

# Build docker image
docker build --tag vcam_image .

# Build docker container
docker run -ti \
--name vcam_test_container \
-v $(pwd):/home/user/virtual_camera \
-e DISPLAY=$DISPLAY \
-v /tmp/.X11-unix:/tmp/.X11-unix \
-u 0  \
 vcam_image:latest /bin/bash

You should now be in the bash shell within the docker container.

3. Build the package within docker container:

cd virtual_camera
bash scripts/build.bash

4. Run virtual_camera ROS 2 node within docker container:

cd virtual_camera
bash scripts/run.bash

5. In host, run showimage ROS 2 node of image_tools package:

source /opt/ros/humble/setup.bash
ros2 run image_tools showimage --ros-args --remap /image:=/virtual_camera/image_raw

Author's Notes: image_tools is a package that exists in ros2/demos

Expected Behaviour 🟢

An image should be displayed in the OpenCV window created by showimage ROS 2 node in host.

Actual Behaviour 🔴

No image was displayed by showimage ROS 2 node in host. When running ros2 topic list in host, unable to properly detect /virtual_camera/image_raw topic in host from container.

Remarks

This is in relation to a past issue the author have investigated before. Should be a quick fix.