add docker

serkanMzlm · Mar 13, 2019 · 3ef026a · 3ef026a
1 parent cd8a2bd
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diff --git a/README.md b/README.md
@@ -140,11 +140,21 @@ For rolling shutter camera (carefully calibrated, reprojection error under 0.5 p
 
 (global shutter camera + synchronized high-end IMU, e.g. VI-Sensor) > (global shutter camera + synchronized low-end IMU) > (global camera + unsync high frequency IMU) > (global camera + unsync low frequency IMU) > (rolling camera + unsync low frequency IMU). 
 
+## 6. Docker Support
 
-## 6. Acknowledgements
+To further facilitate the building process, we add docker in our code. Docker environment is like a sandbox, thus makes our code environment-independent. To run with docker, first make sure [ros](http://wiki.ros.org/ROS/Installation) and [docker](https://docs.docker.com/install/linux/docker-ce/ubuntu/) are installed on your machine. Then add your account to `docker` group by `sudo usermod -aG docker $YOUR_USER_NAME`. **Relaunch the terminal**, type:
+```
+cd ~/catkin_ws/src/VINS-Mono/docker
+make build
+./run.sh LAUNCH_FILE_NAME   # ./run.sh euroc.launch
+```
+Note that the docker building process may take a while depends on your network and machine. After VINS-Mono successfully started, open another terminal and play your bag file, then you should be able to see the result.
+
+
+## 7. Acknowledgements
 We use [ceres solver](http://ceres-solver.org/) for non-linear optimization and [DBoW2](https://github.com/dorian3d/DBoW2) for loop detection, and a generic [camera model](https://github.com/hengli/camodocal).
 
-## 7. Licence
+## 8. Licence
 The source code is released under [GPLv3](http://www.gnu.org/licenses/) license.
 
 We are still working on improving the code reliability. For any technical issues, please contact Tong QIN <tong.qinATconnect.ust.hk> or Peiliang LI <pliapATconnect.ust.hk>.

diff --git a/docker/Dockerfile b/docker/Dockerfile
@@ -0,0 +1,46 @@
+FROM ros:kinetic-perception
+
+ENV CERES_VERSION="1.12.0"
+ENV CATKIN_WS=/root/catkin_ws
+
+      # set up thread number for building
+RUN   if [ "x$(nproc)" = "x1" ] ; then export USE_PROC=1 ; \
+      else export USE_PROC=$(($(nproc)/2)) ; fi && \
+      apt-get update && apt-get install -y \
+      cmake \
+      libatlas-base-dev \
+      libeigen3-dev \
+      libgoogle-glog-dev \
+      libsuitesparse-dev \
+      python-catkin-tools \
+      ros-${ROS_DISTRO}-cv-bridge \
+      ros-${ROS_DISTRO}-image-transport \
+      ros-${ROS_DISTRO}-message-filters \
+      ros-${ROS_DISTRO}-tf && \
+      rm -rf /var/lib/apt/lists/* && \
+      # Build and install Ceres
+      git clone https://ceres-solver.googlesource.com/ceres-solver && \
+      cd ceres-solver && \
+      git checkout tags/${CERES_VERSION} && \
+      mkdir build && cd build && \
+      cmake .. && \
+      make -j$(USE_PROC) install && \
+      rm -rf ../../ceres-solver && \
+      mkdir -p $CATKIN_WS/src/VINS-Mono/
+
+# Copy VINS-Mono
+COPY ./ $CATKIN_WS/src/VINS-Mono/
+# use the following line if you only have this dockerfile
+# RUN git clone https://github.com/HKUST-Aerial-Robotics/VINS-Mono.git
+
+# Build VINS-Mono
+WORKDIR $CATKIN_WS
+ENV TERM xterm
+ENV PYTHONIOENCODING UTF-8
+RUN catkin config \
+      --extend /opt/ros/$ROS_DISTRO \
+      --cmake-args \
+        -DCMAKE_BUILD_TYPE=Release && \
+    catkin build && \
+    sed -i '/exec "$@"/i \
+            source "/root/catkin_ws/devel/setup.bash"' /ros_entrypoint.sh
diff --git a/docker/Makefile b/docker/Makefile
@@ -0,0 +1,16 @@
+all: help
+
+help:
+	@echo ""
+	@echo "-- Help Menu"
+	@echo ""
+	@echo "   1. make build              - build all images"
+	# @echo "   1. make pull             - pull all images"
+	@echo "   1. make clean              - remove all images"
+	@echo ""
+
+build:
+	@docker build --tag ros:vins-mono -f ./Dockerfile ..
+
+clean:
+	@docker rmi -f ros:vins-mono
diff --git a/docker/run.sh b/docker/run.sh
@@ -0,0 +1,63 @@
+#!/bin/bash
+trap : SIGTERM SIGINT
+
+function abspath() {
+    # generate absolute path from relative path
+    # $1     : relative filename
+    # return : absolute path
+    if [ -d "$1" ]; then
+        # dir
+        (cd "$1"; pwd)
+    elif [ -f "$1" ]; then
+        # file
+        if [[ $1 = /* ]]; then
+            echo "$1"
+        elif [[ $1 == */* ]]; then
+            echo "$(cd "${1%/*}"; pwd)/${1##*/}"
+        else
+            echo "$(pwd)/$1"
+        fi
+    fi
+}
+
+if [ "$#" -ne 1 ]; then
+  echo "Usage: $0 LAUNCH_FILE" >&2
+  exit 1
+fi
+
+roscore &
+ROSCORE_PID=$!
+sleep 1
+
+rviz -d ../config/vins_rviz_config.rviz &
+RVIZ_PID=$!
+
+VINS_MONO_DIR=$(abspath "..")
+
+docker run \
+  -it \
+  --rm \
+  --net=host \
+  -v ${VINS_MONO_DIR}:/root/catkin_ws/src/VINS-Mono/ \
+  ros:vins-mono \
+  /bin/bash -c \
+  "cd /root/catkin_ws/; \
+  catkin config \
+        --env-cache \
+        --extend /opt/ros/$ROS_DISTRO \
+       --cmake-args \
+         -DCMAKE_BUILD_TYPE=Release; \
+     catkin build; \
+     source devel/setup.bash; \
+     roslaunch vins_estimator ${1}"
+
+wait $ROSCORE_PID
+wait $RVIZ_PID
+wait $ROSBAG_PID
+
+if [[ $? -gt 128 ]]
+then
+    kill $ROSCORE_PID
+    kill $RVIZ_PID
+    kill $ROSBAG_PID
+fi
diff --git a/pose_graph/CMakeLists.txt b/pose_graph/CMakeLists.txt
@@ -44,4 +44,4 @@ add_executable(pose_graph
     )
 
 target_link_libraries(pose_graph ${catkin_LIBRARIES}  ${OpenCV_LIBS} ${CERES_LIBRARIES}) 
-message("catkin_lib  ${catkin_LIBRARIES}")
+# message("catkin_lib  ${catkin_LIBRARIES}")
diff --git a/pose_graph/src/pose_graph.cpp b/pose_graph/src/pose_graph.cpp
@@ -881,6 +881,7 @@ void PoseGraph::publish()
             posegraph_visualization->publish_by(pub_pose_graph, path[sequence_cnt].header);
         }
     }
+    base_path.header.frame_id = "world";
     pub_base_path.publish(base_path);
     //posegraph_visualization->publish_by(pub_pose_graph, path[sequence_cnt].header);
 }