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https://github.com/koide3/slam_docker_collection

A collection of docker environments for 3D SLAM packages
https://github.com/koide3/slam_docker_collection
3d docker lidar ros slam
Last synced: 17 days ago
JSON representation
A collection of docker environments for 3D SLAM packages
Host: GitHub
URL: https://github.com/koide3/slam_docker_collection
Owner: koide3
Created: 2020-10-07T06:28:00.000Z (about 4 years ago)
Default Branch: master
Last Pushed: 2023-01-19T03:24:59.000Z (almost 2 years ago)
Last Synced: 2024-08-04T00:13:12.408Z (3 months ago)
Topics: 3d, docker, lidar, ros, slam
Homepage:
Size: 39.8 MB
Stars: 218
Watchers: 10
Forks: 41
Open Issues: 3
Metadata Files:
- Readme: README.md
Awesome Lists containing this project

README

        # slam_docker_collection

This 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. 

## Basic Usage

### 1. Update submodule:

```bash

cd slam_docker_collection

git submodule init

git submodule update hdl_graph_slam

```

### 2. Build docker image:

```bash

cd slam_docker_collection/hdl_graph_slam/docker

./build.sh

```

### 3. Run docker image:

```bash

cd slam_docker_collection/hdl_graph_slam/docker

./run.sh -v ~/datasets:/datasets  # you can put more docker run arguments here

# in docker

roslaunch hdl_graph_slam hdl_graph_slam_400.launch

```

## Dockernized packages

| Build status | Docker hub | Package | Short Usage |

| ------------ | ---------- | ------- | ----------- |

| [![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) |

| [![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) |

| [![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) |

| [![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) |

| [![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) |

| [![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) |

| [![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) |

| [![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) |

| [![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) |

| [![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) |

| [![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) |

| [![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) |

| [![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) |

| [![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) |

| [![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) |

| [![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) |

| [![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) |

| LOAM | hdl_graph_slam | LIO-SAM |

| ---- | -------------- | ---- |

|  |  |  |

| LINS | SuMa | voxgraph |

| ---- | ---- | -------- |

|  |  |  |