This repository is for an easy-to-use library utilizing Docker. We use the following environment.
- docker
- Ubuntu 20.04
- ROS noetic
You can find the original instruction file here
We have modified README.md to include instructions for installing Docker images and containers.
Using the image file, you can create a container.
cd docker
docker build -t dlio-noetic:latest .Using image file, you can make container.
docker run --privileged -it \
--volume=${DLIO_root}:/root/workspace/src \
--volume=/tmp/.X11-unix:/tmp/.X11-unix:rw \
--net=host \
--ipc=host \
--name=${docker container name} \
--env="DISPLAY=$DISPLAY" \
${docker image} /bin/bashYou need to replace ${DLIO_root}, ${docker container name}, and ${docker image} with your specific values. An example is provided below.
Example
docker run --privileged -it \
--volume=/home/jin/Documents/direct_lidar_inertial_odometry:/root/workspace/src \
--volume=/tmp/.X11-unix:/tmp/.X11-unix:rw \
--net=host \
--ipc=host \
--name=dlio-noetic \
--env="DISPLAY=$DISPLAY" \
dlio-noetic:latest /bin/bashOutput
==============Direct Lidar Odometry Noetic Docker Env Ready================
root@jin-940XFG:~/workspace#❗️ All processes are operated within the container terminal!
source /ros_entrypoint.sh
source /opt/ros/noetic/setup.bash
catkin init
catkin build❗️ All processes are operated within the container terminal!
roslaunch direct_lidar_inertial_odometry dlio.launch \
rviz:={true, false} \
pointcloud_topic:=/robot/lidar \
imu_topic:=/robot/imuYou can save .pcd and trajectory files.
Save .pcd file
rosservice call /robot/dlio_map/save_pcd LEAF_SIZE SAVE_PATHFor your convenience, we provide sample test data here (9 minutes, ~4.2GB).
roslaunch direct_lidar_inertial_odometry dlio.launchrosbag play dlo_test.bagWe thank the authors of the direct lidar inertial odometry open-source packages.
React
Typescript
Django
Laravel
Facebook
Microsoft
Google
Alibaba
D3
Tencent