{"id":13717281,"url":"https://github.com/koide3/slam_docker_collection","last_synced_at":"2026-03-10T16:08:42.015Z","repository":{"id":37701679,"uuid":"301946516","full_name":"koide3/slam_docker_collection","owner":"koide3","description":"A collection of docker environments for 3D SLAM packages","archived":false,"fork":false,"pushed_at":"2023-01-19T03:24:59.000Z","size":41745,"stargazers_count":231,"open_issues_count":3,"forks_count":41,"subscribers_count":10,"default_branch":"master","last_synced_at":"2025-05-07T10:50:06.585Z","etag":null,"topics":["3d","docker","lidar","ros","slam"],"latest_commit_sha":null,"homepage":"","language":null,"has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/koide3.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2020-10-07T06:28:00.000Z","updated_at":"2025-04-30T06:13:08.000Z","dependencies_parsed_at":"2023-02-10T20:00:50.639Z","dependency_job_id":null,"html_url":"https://github.com/koide3/slam_docker_collection","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/koide3/slam_docker_collection","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/koide3%2Fslam_docker_collection","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/koide3%2Fslam_docker_collection/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/koide3%2Fslam_docker_collection/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/koide3%2Fslam_docker_collection/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/koide3","download_url":"https://codeload.github.com/koide3/slam_docker_collection/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/koide3%2Fslam_docker_collection/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":264537311,"owners_count":23624418,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["3d","docker","lidar","ros","slam"],"created_at":"2024-08-03T00:01:20.228Z","updated_at":"2026-03-10T16:08:36.960Z","avatar_url":"https://github.com/koide3.png","language":null,"funding_links":[],"categories":[],"sub_categories":[],"readme":"# slam_docker_collection\n\nThis is my personal attempt to create reusable and portable environments for 3D SLAM with docker. I think SLAM packages are always difficult to build from scratch in particular when we use different versions of ROS/Ubuntu/libraries. \n\n## Basic Usage\n\n### 1. Update submodule:\n```bash\ncd slam_docker_collection\ngit submodule init\ngit submodule update hdl_graph_slam\n```\n\n### 2. Build docker image:\n```bash\ncd slam_docker_collection/hdl_graph_slam/docker\n./build.sh\n```\n\n### 3. Run docker image:\n```bash\ncd slam_docker_collection/hdl_graph_slam/docker\n./run.sh -v ~/datasets:/datasets  # you can put more docker run arguments here\n\n# in docker\nroslaunch hdl_graph_slam hdl_graph_slam_400.launch\n```\n\n## Dockernized packages\n| Build status | Docker hub | Package | Short Usage |\n| ------------ | ---------- | ------- | ----------- |\n| [![Build](https://github.com/koide3/slam_docker_collection/actions/workflows/ethzasl_icp.yml/badge.svg)](https://github.com/koide3/slam_docker_collection/actions/workflows/ethzasl_icp.yml) | [![Docker](https://img.shields.io/docker/image-size/koide3/slam_docker_collection/ethzasl_icp)](https://hub.docker.com/repository/docker/koide3/slam_docker_collection/) | [ethzasl_icp_mapping](https://github.com/ethz-asl/ethzasl_icp_mapping) | [[usage]](https://github.com/koide3/ethzasl_icp_mapping/blob/reintegrate/master_into_indigo_devel/docker/howtouse.md) | ![ethzasl_icp](https://user-images.githubusercontent.com/31344317/98346757-c4bf9480-2059-11eb-93b0-d97dc637fe16.gif) |\n| [![Build](https://github.com/koide3/slam_docker_collection/actions/workflows/hdl_graph_slam.yml/badge.svg)](https://github.com/koide3/slam_docker_collection/actions/workflows/hdl_graph_slam.yml) | [![Docker](https://img.shields.io/docker/image-size/koide3/slam_docker_collection/hdl_graph_slam)](https://hub.docker.com/repository/docker/koide3/slam_docker_collection/) | [hdl_graph_slam](https://github.com/koide3/hdl_graph_slam) | [[usage]](https://github.com/koide3/hdl_graph_slam/blob/master/docker/howtouse.md) |\n| [![Build](https://github.com/koide3/slam_docker_collection/actions/workflows/loam.yml/badge.svg)](https://github.com/koide3/slam_docker_collection/actions/workflows/loam.yml) | [![Docker](https://img.shields.io/docker/image-size/koide3/slam_docker_collection/loam)](https://hub.docker.com/repository/docker/koide3/slam_docker_collection/) | [LOAM](https://github.com/laboshinl/loam_velodyne) | [[usage]](https://github.com/koide3/loam_velodyne/blob/master/docker/howtouse.md) |\n| [![Build](https://github.com/koide3/slam_docker_collection/actions/workflows/lego_loam.yml/badge.svg)](https://github.com/koide3/slam_docker_collection/actions/workflows/lego_loam.yml) | [![Docker](https://img.shields.io/docker/image-size/koide3/slam_docker_collection/lego_loam)](https://hub.docker.com/repository/docker/koide3/slam_docker_collection/) | [LeGO-LOAM](https://github.com/RobustFieldAutonomyLab/LeGO-LOAM) | [[usage]](https://github.com/koide3/LeGO-LOAM-BOR/blob/master/docker/howtouse.md) |\n| [![Build](https://github.com/koide3/slam_docker_collection/actions/workflows/suma.yml/badge.svg)](https://github.com/koide3/slam_docker_collection/actions/workflows/suma.yml) | [![Docker](https://img.shields.io/docker/image-size/koide3/slam_docker_collection/suma)](https://hub.docker.com/repository/docker/koide3/slam_docker_collection/) | [SuMa](https://github.com/jbehley/SuMa) | [[usage]](https://github.com/koide3/SuMa/blob/master/docker/howtouse.md) |\n| [![Build](https://github.com/koide3/slam_docker_collection/actions/workflows/lins.yml/badge.svg)](https://github.com/koide3/slam_docker_collection/actions/workflows/lins.yml) | [![Docker](https://img.shields.io/docker/image-size/koide3/slam_docker_collection/lins)](https://hub.docker.com/repository/docker/koide3/slam_docker_collection/) | [LINS](https://github.com/ChaoqinRobotics/LINS---LiDAR-inertial-SLAM) | [[usage]](https://github.com/koide3/LINS---LiDAR-inertial-SLAM/blob/master/docker/howtouse.md) |\n| [![Build](https://github.com/koide3/slam_docker_collection/actions/workflows/lio_mapping.yml/badge.svg)](https://github.com/koide3/slam_docker_collection/actions/workflows/lio_mapping.yml) | [![Docker](https://img.shields.io/docker/image-size/koide3/slam_docker_collection/lio_mapping)](https://hub.docker.com/repository/docker/koide3/slam_docker_collection/) | [LIO-mapping](https://github.com/hyye/lio-mapping) | [[usage]](https://github.com/koide3/lio-mapping/blob/master/docker/howtouse.md) |\n| [![Build](https://github.com/koide3/slam_docker_collection/actions/workflows/lio_sam.yml/badge.svg)](https://github.com/koide3/slam_docker_collection/actions/workflows/lio_sam.yml) | [![Docker](https://img.shields.io/docker/image-size/koide3/slam_docker_collection/lio_sam)](https://hub.docker.com/repository/docker/koide3/slam_docker_collection/) | [LIO-SAM](https://github.com/TixiaoShan/LIO-SAM) | [[usage]](https://github.com/koide3/LIO-SAM/blob/master/docker/howtouse.md) |\n| [![Build](https://github.com/koide3/slam_docker_collection/actions/workflows/fast_lio.yml/badge.svg)](https://github.com/koide3/slam_docker_collection/actions/workflows/fast_lio.yml) | [![Docker](https://img.shields.io/docker/image-size/koide3/slam_docker_collection/fast_lio)](https://hub.docker.com/repository/docker/koide3/slam_docker_collection/) | [FAST-LIO](https://github.com/hku-mars/FAST_LIO) | [[usage]](https://github.com/koide3/FAST_LIO/blob/master/docker/howtouse.md) |\n| [![Build](https://github.com/koide3/slam_docker_collection/actions/workflows/fast_livo.yml/badge.svg)](https://github.com/koide3/slam_docker_collection/actions/workflows/fast_livo.yml) | [![Docker](https://img.shields.io/docker/image-size/koide3/slam_docker_collection/fast_livo)](https://hub.docker.com/repository/docker/koide3/slam_docker_collection/) | [FAST-LIVO](https://github.com/hku-mars/FAST-LIVO) | [[usage]](https://github.com/koide3/FAST-LIVO/blob/master/docker/howtouse.md) |\n| [![Build](https://github.com/koide3/slam_docker_collection/actions/workflows/voxelmap.yaml/badge.svg)](https://github.com/koide3/slam_docker_collection/actions/workflows/voxelmap.yaml) | [![Docker](https://img.shields.io/docker/image-size/koide3/slam_docker_collection/voxelmap)](https://hub.docker.com/repository/docker/koide3/slam_docker_collection/) | [VoxelMap](https://github.com/hku-mars/VoxelMap) | [[usage]](https://github.com/koide3/VoxelMap/blob/master/docker/howtouse.md) |\n| [![Build](https://github.com/koide3/slam_docker_collection/actions/workflows/balm.yaml/badge.svg)](https://github.com/koide3/slam_docker_collection/actions/workflows/balm.yaml) | [![Docker](https://img.shields.io/docker/image-size/koide3/slam_docker_collection/balm)](https://hub.docker.com/repository/docker/koide3/slam_docker_collection/) | [BALM](https://github.com/hku-mars/BALM) | [[usage]](https://github.com/koide3/BALM/blob/master/docker/howtouse.md) |\n| [![Build](https://github.com/koide3/slam_docker_collection/actions/workflows/direct_lidar_odometry.yml/badge.svg)](https://github.com/koide3/slam_docker_collection/actions/workflows/direct_lidar_odometry.yml) | [![Docker](https://img.shields.io/docker/image-size/koide3/slam_docker_collection/direct_lidar_odometry)](https://hub.docker.com/repository/docker/koide3/slam_docker_collection/) | [direct_lidar_odometry](https://github.com/vectr-ucla/direct_lidar_odometry) | [[usage]](https://github.com/koide3/direct_lidar_odometry/blob/master/docker/howtouse.md) |\n| [![Build](https://github.com/koide3/slam_docker_collection/actions/workflows/dliom.yaml/badge.svg)](https://github.com/koide3/slam_docker_collection/actions/workflows/dliom.yaml) | [![Docker](https://img.shields.io/docker/image-size/koide3/slam_docker_collection/dliom)](https://hub.docker.com/repository/docker/koide3/slam_docker_collection/) | [D-LIOM](https://github.com/peterWon/D-LIOM) | [[usage]](https://github.com/koide3/D-LIOM/blob/master/docker/howtouse.md) |\n| [![Build](https://github.com/koide3/slam_docker_collection/actions/workflows/clins.yaml/badge.svg)](https://github.com/koide3/slam_docker_collection/actions/workflows/clins.yaml) | [![Docker](https://img.shields.io/docker/image-size/koide3/slam_docker_collection/clins)](https://hub.docker.com/repository/docker/koide3/slam_docker_collection/) | [clins](https://github.com/APRIL-ZJU/clins) | [[usage]](https://github.com/koide3/clins/blob/master/docker/howtouse.md) |\n| [![Build](https://github.com/koide3/slam_docker_collection/actions/workflows/voxblox.yml/badge.svg)](https://github.com/koide3/slam_docker_collection/actions/workflows/voxblox.yml) | [![Docker](https://img.shields.io/docker/image-size/koide3/slam_docker_collection/voxblox)](https://hub.docker.com/repository/docker/koide3/slam_docker_collection/) | [Voxblox](https://github.com/ethz-asl/voxblox) | [[usage]](https://github.com/koide3/voxblox/blob/master/docker/howtouse.md) |\n| [![Build](https://github.com/koide3/slam_docker_collection/actions/workflows/voxgraph.yml/badge.svg)](https://github.com/koide3/slam_docker_collection/actions/workflows/voxgraph.yml) | [![Docker](https://img.shields.io/docker/image-size/koide3/slam_docker_collection/voxgraph)](https://hub.docker.com/repository/docker/koide3/slam_docker_collection/) | [Voxgraph](https://github.com/ethz-asl/voxgraph) | [[usage]](https://github.com/koide3/voxgraph/blob/master/docker/howtouse.md) |\n\n\n| LOAM | hdl_graph_slam | LIO-SAM |\n| ---- | -------------- | ---- |\n| \u003cimg style=\"max-height: 320pix; width: auto;\" src=\"https://user-images.githubusercontent.com/31344317/98347880-5da2df80-205b-11eb-8aae-abfd8fc67f70.gif\"/\u003e | \u003cimg style=\"max-height: 320pix; width: auto;\" src=\"https://user-images.githubusercontent.com/31344317/98347836-4fed5a00-205b-11eb-931c-158f6cd056bf.gif\"/\u003e | \u003cimg style=\"max-height: 320pix; width: auto;\" src=\"https://user-images.githubusercontent.com/31344317/98347870-5bd91c00-205b-11eb-82f0-8dec94dc3aec.gif\"/\u003e |\n\n| LINS | SuMa | voxgraph |\n| ---- | ---- | -------- |\n| \u003cimg style=\"max-height: 320pix; width: auto;\" src=\"https://user-images.githubusercontent.com/31344317/98347847-54197780-205b-11eb-988b-ac497d3ec8f8.gif\"/\u003e | \u003cimg  style=\"max-height: 320pix; width: 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