SLAM(simultaneous localization and mapping) have different dependencies for each algorithm. Adjusting these all dependencies to the local computer is very challenging. Docker is a powerful tool, you could solve these problem at once.
This repository helps you to make Dockerfile easier what you want.
Install necessary packages or algorithms using this Cheatsheet! 😄
Supported by ChatGPT & Reference
FROM: Specifies the base image that will be used for the Docker image.WORKDIR: Sets the working directory for subsequent commands in the Dockerfile.RUN: Runs a command inside the Docker image during the build process. This can be used to install packages, run scripts, and perform other setup tasks.COPYorADD: Copies files from the host machine to the Docker image. This can be used to add application code, configuration files, and other assets to the image.ENV: Sets environment variables inside the Docker image.CMDorENTRYPOINT: Specifies the command that will be executed when the container is started.CMDis used to specify a default command, whileENTRYPOINTis used to specify a command that should always be run when the container is started.
If you want to change the version of Ceres-solver, you just change 1.14.0 version you want.
- Other versions : https://github.com/ceres-solver/ceres-solver/tags
# Install the required packages
RUN apt-get update && apt-get install libatlas-base-dev libgoogle-glog-dev libsuitesparse-dev libglew-dev
# Install ceres-solver
WORKDIR /home/thirdParty
RUN wget https://github.com/ceres-solver/ceres-solver/archive/refs/tags/1.14.0.tar.gz
RUN tar zxf 1.14.0.tar.gz
RUN cd ceres-solver-1.14.0
RUN mkdir build && cd build
RUN cmake -DCMAKE_BUILD_TYPE=Release ./ceres-solver-1.14.0 && make -j2 && make install
If you want to change the version of GTSAM, you just change 4.0.2 version you want.
- Other versions : https://github.com/borglab/gtsam/tags
# Install GTSAM
WORKDIR /home/thirdParty
RUN wget -O gtsam.zip https://github.com/borglab/gtsam/archive/4.0.2.zip
RUN unzip gtsam.zip
WORKDIR /home/thirdParty/gtsam-4.0.2
RUN mkdir build && cd build
RUN cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF .. && make -j2 && make install
# Solving linking issue (optional)
# Fix error related to GTSAM
# ref: https://github.com/borglab/gtsam/issues/380
export LD_LIBRARY_PATH=/usr/local/lib/:$LD_LIBRARY_PATH
If you want to change the version of OpenCV, you just change 3.4.13 version you want.
- Other versions : https://github.com/opencv/opencv/tags
WORKDIR /home/
RUN wget -O opencv.zip https://github.com/opencv/opencv/archive/3.4.13.zip
RUN wget -O opencv_contrib.zip https://github.com/opencv/opencv_contrib/archive/3.4.13.zip
RUN unzip opencv.zip && unzip opencv_contrib.zip
WORKDIR /home/opencv_build
RUN cmake -DOPENCV_EXTRA_MODULES_PATH=../opencv_contrib-3.4.13/modules -DOPENCV_ENABLE_NONFREE=ON ../opencv-3.4.13
RUN make -j$(nproc) && make install
More information for dependency at Livox-SDK2 github
# Install livox SDK
WORKDIR /root/
RUN git clone https://github.com/Livox-SDK/Livox-SDK2.git
WORKDIR /root/Livox-SDK2
RUN mkdir build
WORKDIR /root/Livox-SDK2/build
RUN cmake .. && make -j2 && make install
Create a folder for the livox ros driver in catkin_ws/src and build it directly.
If you want to change the version of livox ros driver, you just change 2.6.0 version you want.
- Other version : https://github.com/Livox-SDK/livox_ros_driver/tags
WORKDIR /home/catkin_ws/src
RUN wget https://github.com/Livox-SDK/livox_ros_driver/archive/refs/tags/v2.6.0.tar.gz
RUN tar zxf v2.6.0.tar.gz && rm -rf v2.6.0.tar.gz
RUN /bin/bash -c '. /opt/ros/melodic/setup.bash; catkin_init_workspace; cd .. && catkin_make'
# Install Pangolin
WORKDIR /home/thirdParty
RUN git clone --recursive https://github.com/stevenlovegrove/Pangolin.git
WORKDIR /home/thirdParty/Pangolin/build
RUN cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_INSTALL_PREFIX=../install/ ..
RUN make -j2 && make install
If you have any questions, feel free to leave an issue!
Pull requests for useful package additions are always welcome. 😄
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