Added i4h CLI based on Holohub CLI

[jjomier]

Added i4h CLI so that holoscan applications can be run as follows:

./i4h run realsense
./i4h run clarius_cast
./i4h run clarius_solum

[wendell-hom]

/build

[mingxin-zheng]

I have a question about the overall communication. When i4h run clarius_cast, does it stream the ultrasound image from the clarius probe to i4h/isaacsim via dds ipc communcation @wendell-hom @jjomier ?

[jjomier]

/build

[jjomier]

I have a question about the overall communication. When i4h run clarius_cast, does it stream the ultrasound image from the clarius probe to i4h/isaacsim via dds ipc communcation @wendell-hom @jjomier ?

It does. @wendell-hom to confirm

[wendell-hom]

I have a question about the overall communication. When i4h run clarius_cast, does it stream the ultrasound image from the clarius probe to i4h/isaacsim via dds ipc communcation @wendell-hom @jjomier ?

It does. @wendell-hom to confirm

It will publish the stream via dds with default topic name topic_ultrasound_data. If isaacsim subscribes to this topic, then yes it will receive the ultrasound stream.

[wendell-hom]

@jjomier

I'm seeing an error when running ./i4h run realsense. It looks like holoscan sdk base image is using python3.12, but pyrealsense2 is not available with 3.12. The i4h repo is using python3.10 so this wasn't an issue.

➜  ./i4h run realsense                                                                                                                                             
...                                                                                                                                                                           
 > [2/3] RUN pip install pyrealsense2 rti.connext:
0.472 ERROR: Could not find a version that satisfies the requirement pyrealsense2 (from versions: none)
0.491 ERROR: No matching distribution found for pyrealsense2
------

 1 warning found (use docker --debug to expand):
 - InvalidDefaultArgInFrom: Default value for ARG ${BASE_IMAGE} results in empty or invalid base image name (line 20)
Dockerfile:24
--------------------
  22 |     ARG DEBIAN_FRONTEND=noninteractive
  23 |     
  24 | >>> RUN pip install pyrealsense2 rti.connext
  25 |     
  26 |     # Install librealsense.
--------------------
ERROR: failed to solve: process "/bin/sh -c pip install pyrealsense2 rti.connext" did not complete successfully: exit code: 1

[wendell-hom]

/build

[wendell-hom]

/build

[jjomier]

/build

[jjomier]

@wendell-hom can you review?

[wendell-hom]

@jjomier the applications in i4h use dds and require an RTI_LICENSE_FILE.
Are we passing in this env variable or setting it somewhere in the docker container?