Remove ZED SDK Dependencies

This brings our docker image size down from 24.7GB to 9.75GB.

.gitmodules

@@ -15,6 +15,3 @@
 	path = ros/rosbag2
 	url = https://github.com/ros2/rosbag2.git
 	branch = foxy-future
-[submodule "ros/zed-ros2-wrapper"]
-	path = ros/zed-ros2-wrapper
-	url = https://github.com/stereolabs/zed-ros2-wrapper.git

docker/workspace-build/Dockerfile

@@ -53,32 +53,33 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
 RUN echo "source /etc/bash_completion" >> ~/.bashrc \
  && echo "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" >> ~/.bashrc
 
-# Acquire and install NVIDIA CUDA 12.5
-RUN --mount=type=cache,target=/root/nvidia,sharing=locked \
-    wget https://developer.download.nvidia.com/compute/cuda/12.5.0/local_installers/cuda_12.5.0_555.42.02_linux.run \
-      --no-verbose -c -O /root/nvidia/cuda_12.5.0_555.42.02_linux.run \
-  && chmod +x /root/nvidia/cuda_12.5.0_555.42.02_linux.run \
-  && /root/nvidia/cuda_12.5.0_555.42.02_linux.run --silent --toolkit
-ENV PATH=/usr/local/cuda-12.5/bin:${PATH}
-ENV LD_LIBRARY_PATH=/usr/local/cuda-12.5/lib64:${LD_LIBRARY_PATH}
-
-# Install ZED SDK and dependencies.
-# We are skipping the python installation here as the pacakge version has been
-# manually deduced and added to our poetry configuration to allow for its
-# depedencies to be resolved along side everything else we use.
-RUN --mount=type=cache,target=/root/zed,sharing=locked \
-    --mount=type=cache,target=/var/cache/apt,sharing=locked \
-    --mount=type=cache,target=/var/lib/apt,sharing=locked \
-    apt install zstd \
- && wget https://download.stereolabs.com/zedsdk/4.1/cu121/ubuntu20 \
-      --no-verbose -c -O /root/zed/ZED_SDK_Ubuntu20_cuda12.1_v4.1.2.zstd.run \
- && chmod +x /root/zed/ZED_SDK_Ubuntu20_cuda12.1_v4.1.2.zstd.run \
- && /root/zed/ZED_SDK_Ubuntu20_cuda12.1_v4.1.2.zstd.run \
-    --quiet \
-    --target /root/zed/install \
-    -- \
-    --silent \
-    --skip_python
+## Acquire and install NVIDIA CUDA 12.5
+## * This is required for the ZED SDK installation.
+#RUN --mount=type=cache,target=/root/nvidia,sharing=locked \
+#    wget https://developer.download.nvidia.com/compute/cuda/12.5.0/local_installers/cuda_12.5.0_555.42.02_linux.run \
+#      --no-verbose -c -O /root/nvidia/cuda_12.5.0_555.42.02_linux.run \
+#  && chmod +x /root/nvidia/cuda_12.5.0_555.42.02_linux.run \
+#  && /root/nvidia/cuda_12.5.0_555.42.02_linux.run --silent --toolkit
+#ENV PATH=/usr/local/cuda-12.5/bin:${PATH}
+#ENV LD_LIBRARY_PATH=/usr/local/cuda-12.5/lib64:${LD_LIBRARY_PATH}
+#
+## Install ZED SDK and dependencies.
+## We are skipping the python installation here as the pacakge version has been
+## manually deduced and added to our poetry configuration to allow for its
+## depedencies to be resolved along side everything else we use.
+#RUN --mount=type=cache,target=/root/zed,sharing=locked \
+#    --mount=type=cache,target=/var/cache/apt,sharing=locked \
+#    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+#    apt install zstd \
+# && wget https://download.stereolabs.com/zedsdk/4.1/cu121/ubuntu20 \
+#      --no-verbose -c -O /root/zed/ZED_SDK_Ubuntu20_cuda12.1_v4.1.2.zstd.run \
+# && chmod +x /root/zed/ZED_SDK_Ubuntu20_cuda12.1_v4.1.2.zstd.run \
+# && /root/zed/ZED_SDK_Ubuntu20_cuda12.1_v4.1.2.zstd.run \
+#    --quiet \
+#    --target /root/zed/install \
+#    -- \
+#    --silent \
+#    --skip_python
 
 # For the demo-ui
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \

pyproject.toml

@@ -93,14 +93,14 @@ tcn-hpl = {path = "python-tpl/TCN_HPL", develop = true}
 # Yolo v7 object detection
 yolov7 = {path = "python-tpl/yolov7", develop = true}
 
-# ZED SDK Python Package
-# Deduced from a manual installation of the ZED SDK, however the installation
-# script uses the `--ignore-installed` option for `pip install`, which clobbers
-# transitive dependency requirements of other packages specified here.
-# Including the known wheel via URL is our best option to avoid this issue.
-# This will need to be updated (or removed) if we change our platform or SDK
-# version used.
-pyzed = {url = "https://download.stereolabs.com/zedsdk/4.1/whl/linux_x86_64/pyzed-4.1-cp38-cp38-linux_x86_64.whl"}
+## ZED SDK Python Package
+## Deduced from a manual installation of the ZED SDK, however the installation
+## script uses the `--ignore-installed` option for `pip install`, which clobbers
+## transitive dependency requirements of other packages specified here.
+## Including the known wheel via URL is our best option to avoid this issue.
+## This will need to be updated (or removed) if we change our platform or SDK
+## version used.
+#pyzed = {url = "https://download.stereolabs.com/zedsdk/4.1/whl/linux_x86_64/pyzed-4.1-cp38-cp38-linux_x86_64.whl"}
 
 [tool.poetry.dev-dependencies]
 ipython = "*"