Roboparty · Luo1imasi · Aug 20, 2026 · Aug 20, 2026 · Aug 20, 2026
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+* @wentywenty
+* @Luo1imasi
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+---
+name: Bug / Issue
+about: 报告问题或提出需求 / Report a bug or request a feature
+labels: triage
+---
+
+<!-- 请勾选类型 / Check the issue type -->
+- [ ] 🔨 构建问题 Build issue（deb 编译失败、版本不一致 / compile fail, version mismatch）
+- [ ] 📦 APT 源问题 APT repo issue（同步失败 / sync fail, 403）
+- [ ] 🛠️ 新功能 / 新包请求 Feature request / new package
+
+## 环境 / Environment
+
+- 架构 Arch: [amd64 / arm64]
+- 系统 OS: [RobopiOS 1.0.6 / RobopiOS 1.2.7 / Ubuntu 22.04 / Ubuntu 24.04]
+- 包名和版本 Package & version: <!-- roboparty-motors 2.1.3-1 -->
+
+## 现象 / What happened
+
+<!-- 发生了什么？截图/日志/命令输出 -->
+<!-- What went wrong? Screenshots, logs, command output -->
+
+## 复现步骤 / Steps to reproduce
+
+1.
+2.
+3.
+
+## 期望行为 / Expected behavior
+
+<!-- 你期望的正确结果 / What should happen instead -->
+
+> ⚠️ **禁止使用 AI 生成 Issues。AI 生成的 Issue 将被直接关闭。**
+> **Do not use AI to generate Issues. AI-generated issues will be closed immediately.**
@@ -0,0 +1,33 @@
+---
+name: Pull Request
+about: 提交代码变更 / Submit a code change
+---
+
+<!-- 请勾选类型 / Check the PR type -->
+- [ ] 🐛 Bug fix 修复
+- [ ] ✨ New feature 新功能
+- [ ] 📦 Packaging 打包（debian/ 变更）
+- [ ] 📝 Docs 文档
+- [ ] 🔧 CI / workflow 变更
+
+## 变更说明 / Description
+
+<!-- 简述改了什么 / Briefly describe what this PR does -->
+
+## 版本检查 / Version check
+
+<!-- 如果这会影响包的版本，请确认 / Confirm if version is affected -->
+
+- [ ] 本次变更不需要改版本号 / This change does NOT bump version
+- [ ] 已更新 debian/changelog
+- [ ] 已同步 package.xml（仅 ROS 包 / ROS packages only）
+- [ ] changelog 和 package.xml 版本一致 / Versions match
+
+## 测试 / Testing
+
+- [ ] 构建通过 / Build passes: `dpkg-buildpackage -us -uc -b`
+- [ ] 已在 [amd64 / arm64] 上测试
+- [ ] 其他说明 / Notes:
+
+> ⚠️ **禁止使用 AI 生成 PR 描述。AI 生成的 PR 将被直接关闭。**
+> **Do not use AI to generate PR descriptions. AI-generated PRs will be closed immediately.**
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+name: Build RoboParty Camera Deb Package
+
+on:
+  push:
+
+jobs:
+  build:
+    strategy:
+      matrix:
+        include:
+          - arch: amd64
+            os: ubuntu-22.04
+          - arch: arm64
+            os: [self-hosted, rk3588]
+    runs-on: ${{ matrix.os }}
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Version check (package.xml vs changelog)
+        run: |
+          PKG_XML_VERSION=$(grep -oP '<version>\K[^<]+' package.xml)
+          CHANGELOG_VERSION=$(head -1 debian/changelog | grep -oP '\((.*?)\)' | tr -d '()' | cut -d'-' -f1)
+
+          echo "package.xml version: $PKG_XML_VERSION"
+          echo "changelog version:  $CHANGELOG_VERSION"
+
+          if [ "$PKG_XML_VERSION" != "$CHANGELOG_VERSION" ]; then
+            echo "::error::Version mismatch! package.xml=$PKG_XML_VERSION, changelog=$CHANGELOG_VERSION"
+            exit 1
+          fi
+
+          echo "✅ Version check passed: $PKG_XML_VERSION"
+
+      - name: Tag vs changelog version check
+        if: startsWith(github.ref, 'refs/tags/v')
+        run: |
+          TAG_VERSION="${GITHUB_REF#refs/tags/v}"
+          CHANGELOG_VERSION=$(head -1 debian/changelog | grep -oP '\((.*?)\)' | tr -d '()' | cut -d'-' -f1)
+
+          echo "Tag version:       $TAG_VERSION"
+          echo "Changelog version: $CHANGELOG_VERSION"
+
+          if [ "$TAG_VERSION" != "$CHANGELOG_VERSION" ]; then
+            echo "::error::Version mismatch! tag=v$TAG_VERSION, changelog=$CHANGELOG_VERSION"
+            exit 1
+          fi
+
+          echo "✅ Tag matches changelog: v$TAG_VERSION"
+
+      - name: Setup ROS 2 Humble
+        if: matrix.arch == 'amd64'
+        uses: ros-tooling/setup-ros@v0.7
+        with:
+          required-ros-distributions: humble
+
+      - name: Install build dependencies
+        run: |
+          sudo apt-get update -q
+          sudo apt-get install -y --no-install-recommends \
+            build-essential cmake ccache dpkg-dev debhelper devscripts \
+            git wget pkg-config libopencv-dev \
+            ros-humble-ament-cmake ros-humble-rclcpp \
+            ros-humble-std-msgs ros-humble-sensor-msgs ros-humble-std-srvs
+
+      - name: Build deb package
+        run: |
+          . /opt/ros/humble/setup.sh
+          dpkg-buildpackage -us -uc -b
+          mv ../*.deb .
+          VERSION=$(dpkg-parsechangelog -S Version | cut -d'-' -f1 || echo "unknown")
+          echo "PKG_VERSION=$VERSION" >> $GITHUB_ENV
+
+      - name: Upload deb artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: roboparty-camera-v${{ env.PKG_VERSION }}-${{ matrix.arch }}
+          path: "*.deb"
+
+      - name: Upload to GitHub Release
+        if: startsWith(github.ref, 'refs/tags/v')
+        uses: softprops/action-gh-release@v2
+        with:
+          files: "*.deb"
@@ -2,7 +2,7 @@
 # Copyright (C) 2025-2026 Luo1imasi
 
 cmake_minimum_required(VERSION 3.16)
-project(camera)
+project(roboparty_camera)
 
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -march=native")
 set(CMAKE_CXX_COMPILER_LAUNCHER ccache)
@@ -48,10 +48,4 @@ install(TARGETS depth_node
 install(DIRECTORY configs models launch
   DESTINATION share/${PROJECT_NAME})
 
-install(FILES
-  ${ONNXRUNTIME_LIB_FILE}
-  ${ONNXRUNTIME_LIB_FILE}.1
-  ${ONNXRUNTIME_LIB_FILE}.1.21.0
-  DESTINATION lib)
-
 ament_package()
@@ -0,0 +1,5 @@
+roboparty-camera (1.2.0-1) stable; urgency=medium
+
+  * Initial deb packaging.
+
+ -- wentywenty <2321901849@qq.com>  Wed, 19 Aug 2026 00:00:00 +0800
@@ -0,0 +1,19 @@
+Source: roboparty-camera
+Section: misc
+Priority: optional
+Maintainer: RoboParty <ZhihaoLiu_hit@163.com>
+Build-Depends: debhelper-compat (= 12), cmake, pkg-config, ccache,
+               libopencv-dev,
+               ros-humble-ament-cmake, ros-humble-rclcpp,
+               ros-humble-std-msgs, ros-humble-sensor-msgs, ros-humble-std-srvs
+
+Package: roboparty-camera
+Architecture: any
+Depends: ${shlibs:Depends}, ${misc:Depends}, roboparty-base (>= 1.0.0),
+         roboparty-inference (>= 1.2.0),
+         ros-humble-rclcpp, ros-humble-std-msgs, ros-humble-sensor-msgs,
+         ros-humble-std-srvs, ros-humble-ros2launch, ros-humble-launch-ros,
+         ros-humble-ament-index-python, ros-humble-realsense2-camera
+Description: RoboParty depth camera node
+ ROS 2 depth processing node with ONNX Runtime encoder for RealSense D435i.
+ Publishes encoded depth observations and ships launch/config/model assets.
@@ -0,0 +1,57 @@
+Format: https://www.debian.org/doc/packaging-manuals/copyright-format/1.0/
+Upstream-Name: roboparty-camera
+Source: https://github.com/wentywenty/roboparty_camera
+
+Files: *
+Copyright: 2025-2026 Luo1imasi
+License: GPL-3.0
+
+Files: debian/*
+Copyright: 2026 wentywenty
+License: GPL-3.0
+
+Files: thirdparty/onnxruntime-linux-aarch64-1.21.0.tgz
+       thirdparty/onnxruntime-linux-x64-1.21.0.tgz
+Copyright: Microsoft Corporation and ONNX Runtime contributors
+License: MIT
+Comment: ONNX Runtime v1.21.0 binary archive.
+ https://github.com/microsoft/onnxruntime
+
+Files: models/encoder.onnx
+Comment: Model artifact, not source code. Its training provenance,
+ underlying model terms, and dataset permissions must be confirmed
+ before redistribution. The GPL-3.0 declaration covers only the
+ repository's copyright holders' rights and does not replace any
+ third-party terms that may apply to the model.
+
+License: GPL-3.0
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, version 3 of the License.
+ .
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ .
+ On Debian systems, the full text of the GNU General Public License
+ version 3 can be found in `/usr/share/common-licenses/GPL-3'.
+
+License: MIT
+ Permission is hereby granted, free of charge, to any person obtaining a
+ copy of this software and associated documentation files (the "Software"),
+ to deal in the Software without restriction, including without limitation
+ the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ and/or sell copies of the Software, and to permit persons to whom the
+ Software is furnished to do so, subject to the following conditions:
+ .
+ The above copyright notice and this permission notice shall be included
+ in all copies or substantial portions of the Software.
+ .
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
@@ -0,0 +1,4 @@
+#!/bin/bash
+set -e
+
+ldconfig
@@ -0,0 +1,4 @@
+#!/bin/bash
+set -e
+
+ldconfig
@@ -0,0 +1,24 @@
+#!/usr/bin/make -f
+export DH_VERBOSE = 1
+export DEB_BUILD_MAINT_OPTIONS = optimize=-lto
+export AMENT_PREFIX_PATH=/opt/ros/humble
+export CMAKE_PREFIX_PATH=/opt/roboparty:/opt/ros/humble
+export PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
+export LD_LIBRARY_PATH := /opt/ros/humble/lib:$(LD_LIBRARY_PATH)
+export CCACHE_DISABLE = 1
+
+%:
+	dh $@ --buildsystem=cmake
+
+override_dh_auto_configure:
+	dh_auto_configure -- \
+		-DCMAKE_INSTALL_PREFIX=/opt/roboparty \
+		-DCMAKE_PREFIX_PATH="/opt/roboparty;/opt/ros/humble" \
+		-DCMAKE_BUILD_TYPE=Release
+
+override_dh_install:
+	dh_install
+	find debian/roboparty-camera/opt/roboparty/share/roboparty_camera -type f \( -name "*.onnx" -o -name "*.yaml" \) -exec chmod 644 {} \; 2>/dev/null || true
+
+override_dh_shlibdeps:
+	dh_shlibdeps -- -l$(CURDIR)/thirdparty/onnxruntime/lib --ignore-missing-info
@@ -36,7 +36,7 @@ def launch_setup(context, *args, **kwargs):
         )
 
     policy_file = policy if policy.endswith(".yaml") else f"{policy}.yaml"
-    camera_share = get_package_share_directory("camera")
+    camera_share = get_package_share_directory("roboparty_camera")
     depth_config = os.path.join(camera_share, "configs", policy_file)
     depth_model_dir = os.path.join(camera_share, "models")
     realsense_config = (
@@ -65,7 +65,7 @@ def launch_setup(context, *args, **kwargs):
 
     actions.append(
         Node(
-            package="camera",
+            package="roboparty_camera",
             executable="depth_node",
             name="depth_node",
             parameters=[

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>camera</name>
+  <name>roboparty_camera</name>
   <version>1.2.0</version>
   <description>Depth processing and camera perception nodes</description>
   <maintainer email="ZhihaoLiu_hit@163.com">RoboParty</maintainer>