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https://github.com/HyeonJaeGil/DockerSLAM
User-friendly Docker images for SLAM
https://github.com/HyeonJaeGil/DockerSLAM
docker lidar-slam slam-tutorial visual-slam
Last synced: 3 months ago
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User-friendly Docker images for SLAM
- Host: GitHub
- URL: https://github.com/HyeonJaeGil/DockerSLAM
- Owner: HyeonJaeGil
- Created: 2021-08-23T17:30:37.000Z (almost 3 years ago)
- Default Branch: master
- Last Pushed: 2023-07-07T13:06:13.000Z (12 months ago)
- Last Synced: 2024-01-21T04:59:23.912Z (5 months ago)
- Topics: docker, lidar-slam, slam-tutorial, visual-slam
- Language: Dockerfile
- Homepage:
- Size: 82 KB
- Stars: 29
- Watchers: 3
- Forks: 1
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
Lists
- awesome-mobile-robotics - DockerSLAM - friendly Docker images for SLAM (Softwares and Libraries)
README
# DockerSLAM
## User-friendly way to run SLAM on Docker
This is a personal Dockerfile hub for SLAM algorithms.\
Since SLAM consists of various modules, it is quite hard for a beginner to compile and run them from scratch.\
**This DockerSLAM repository is suitable for SLAM beginners. All you need is to install Docker beforehand!**
## Supported SLAM algorithm
#### For convenience, all SLAM algorithms are wrapped with ROS1 support.
### LiDAR SLAM
| LiDAR SLAM | Link to original repository | Link to Docker Hub |
| :-----------: | :------------------------------------------------------------------: | :----------------: |
| **FAST-LIO2** | [FAST-LIO2 repository](https://github.com/hku-mars/FAST_LIO.git) | Docker hub |
| **LEGO-LOAM** | [LEGO-LOAM repository](https://github.com/RobustFieldAutonomyLab/LeGO-LOAM.git) | Docker hub |
| **LIO-SAM** | [LIO-SAM repository](https://github.com/TixiaoShan/LIO-SAM.git) | Docker hub |
### Visual SLAM
| Visual SLAM | Link to original repository | Link to Docker Hub |
| :-----------: | :-----------------------------------------------------------------: | :----------------: |
| **DSO** | [DSO repository](https://github.com/HyeonJaeGil/dso.git) | Docker hub |
| **ORB-SLAM2** | [ORB-SLAM2 repository](https://github.com/HyeonJaeGil/ORB_SLAM2.git) | Docker hub |
| **VINS-Mono** | [VINS-Mono repository](https://github.com/HKUST-Aerial-Robotics/VINS-Mono.git) | Docker hub |
| **RTABMap** | [RTABMap-ROS repository](https://github.com/introlab/rtabmap_ros.git) | Docker hub |
| **PL-VINS** | [PL-VINS repository](https://github.com/HyeonJaeGil/PL-VINS.git) | Docker hub |
| **PL-VIO** | [PL-VIO repository](https://github.com/HeYijia/PL-VIO.git) | Docker hub |
| **ProSLAM** | [ProSLAM repository](https://gitlab.com/HyeonJaeGil/srrg_proslam.git) | Docker hub |
## How to use
### 0. Install Prerequisite
#### Docker
Please follow the [official guidance link](https://docs.docker.com/engine/install/ubuntu/) to install Docker.\
Make sure to perform [post-installation step](https://docs.docker.com/engine/install/linux-postinstall/), especially adding docker to your group.
```bash
newgroup docker
```
#### NVIDIA-Docker
In order to use `--gpus all` option when running a container, please install [NVIDIA Container Toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html#step-1-install-nvidia-container-toolkit) properly.
### 1. Prepare Docker Image
First, check available algorithm (vins-mono, lio-sam, ... ) for Docker image. \
You can either build it by yourself...
```bash
./build.sh
```
or just pull from dockerhub
```bash
docker pull hyeonjaegil/:latest
```
Check if image is ready with `$ docker images` command.
### 2. Run Container
```bash
./run
```
#### Customizing [run.sh](./run.sh) File
1. You can modify [run.sh](./run.sh) to use extra options, such as `--volume` option to mount your directories.\
For example, mount local `~/Download/Dataset` folder into container `/dataset` folder.
```sh
# Inside run.sh file...
docker run --gpus all --rm -it --ipc=host --net=host --privileged \
--env="DISPLAY" \
--volume="/etc/localtime:/etc/localtime:ro" \
--volume="$HOME/Downloads/Dataset:/dataset" \ # add this line.
${docker_image}
```
2. If you don't want to delete container when exiting, please remove `--rm` options.
**Be aware that current `run.sh` file gives container the highest authority.**
- It gives all available GPUs (`--gpus all`),
- gives maximum shared memory (`--ipc host`),
- offers the same network stack with host (`--net host`),
- and gives access to all the devices on the host (`--privileged`)
- AND container can connect from any host (`xhost +`)