diff --git a/README.md b/README.md index 27a846f..d8b5246 100644 --- a/README.md +++ b/README.md @@ -100,6 +100,10 @@ source devel/setup.bash roslaunch lio_livox horizon.launch ``` +## Docker support + +For running LIO-Livox with Docker, see [Docker for LIO-Livox](./docker). + ## Notes: The current version of the system is only adopted for Livox Horizon. In theory, it should be able to run directly with a Livox Avia, but we haven't done enough tests. Besides, the system doesn't provide a interface of Livox mid series. If you want use mid-40 or mid-70, you can try [livox_mapping](https://github.com/Livox-SDK/livox_mapping). diff --git a/docker/Dockerfile-kinetic b/docker/Dockerfile-kinetic new file mode 100644 index 0000000..41a9ffc --- /dev/null +++ b/docker/Dockerfile-kinetic @@ -0,0 +1,43 @@ +FROM althack/ros:kinetic-full +ENV DEBIAN_FRONTEND=noninteractive + +# Install other dependencies from APT +RUN apt-get update && apt-get install -y git vim nano wget unzip build-essential cmake \ +libgoogle-glog-dev libboost-all-dev protobuf-compiler libatlas-base-dev \ +libsuitesparse-dev ros-kinetic-pcl-ros + +# Install Eigen 3.3.4 - Must be done for Ubuntu 16.04 +RUN wget http://mirrors.kernel.org/ubuntu/pool/universe/e/eigen3/libeigen3-dev_3.3.4-4_all.deb -O /tmp/libeigen3-dev_3.3.4-4_all.deb +RUN dpkg -i /tmp/libeigen3-dev_3.3.4-4_all.deb +RUN rm /tmp/libeigen3-dev_3.3.4-4_all.deb + +# Clean up APT +RUN apt-get autoclean \ + && apt-get autoremove \ + && rm -rf /var/lib/apt/lists/* + +# Install Ceres +RUN cd /tmp && git clone --depth=1 -b 1.14.0 https://ceres-solver.googlesource.com/ceres-solver +RUN cd /tmp/ceres-solver && cmake . && make -j$(nproc) && make install +RUN rm -rf /tmp/ceres-solver + +# Prepare workspace for livox driver and LIO-Livox +# Add commands to clone other repos +RUN mkdir -p /home/ros/catkin_ws/src +RUN cd /home/ros/catkin_ws/src && git clone https://github.com/Livox-SDK/livox_ros_driver +RUN cd /home/ros/catkin_ws/src && git clone https://github.com/Livox-SDK/LIO-Livox + +# Specify Eigen version 3.3 - Must be done for Ubuntu 16.04 +RUN sed -i 's/Eigen3\sREQUIRED/Eigen3 3.3 REQUIRED/g' /home/ros/catkin_ws/src/LIO-Livox/CMakeLists.txt + +# Build the workspace +RUN cd /home/ros/catkin_ws && catkin_make + +# Set up auto-source of workspace for ros user +RUN echo "source /home/ros/catkin_ws/devel/setup.bash" >> /root/.bashrc +WORKDIR "/home/ros/catkin_ws/" + +# Keep docker running +# https://stackoverflow.com/questions/30209776/docker-container-will-automatically-stop-after-docker-run-d +ENTRYPOINT ["tail"] +CMD ["-f","/dev/null"] diff --git a/docker/Dockerfile-melodic b/docker/Dockerfile-melodic new file mode 100644 index 0000000..417e09d --- /dev/null +++ b/docker/Dockerfile-melodic @@ -0,0 +1,33 @@ +FROM althack/ros:melodic-full +ENV DEBIAN_FRONTEND=noninteractive + +# Install dependencies from APT +RUN apt-get update && apt-get install -y git vim nano wget unzip build-essential cmake \ +libgoogle-glog-dev libboost-all-dev protobuf-compiler libatlas-base-dev libeigen3-dev \ +libsuitesparse-dev ros-melodic-pcl-ros + +# Clean up APT +RUN apt-get autoclean \ + && apt-get autoremove \ + && rm -rf /var/lib/apt/lists/* + +# Install Ceres +RUN cd /tmp && git clone --depth=1 -b 1.14.0 https://ceres-solver.googlesource.com/ceres-solver +RUN cd /tmp/ceres-solver && cmake . && make -j$(nproc) && make install +RUN rm -rf /tmp/ceres-solver + +# Prepare workspace for livox driver and LIO-Livox +# Add commands to clone other repos +RUN mkdir -p /home/ros/catkin_ws/src +RUN cd /home/ros/catkin_ws/src && git clone https://github.com/Livox-SDK/livox_ros_driver +RUN cd /home/ros/catkin_ws/src && git clone https://github.com/Livox-SDK/LIO-Livox +RUN cd /home/ros/catkin_ws && catkin_make + +# Set up auto-source of workspace for ros user +RUN echo "source /home/ros/catkin_ws/devel/setup.bash" >> /root/.bashrc +WORKDIR "/home/ros/catkin_ws/" + +# Keep docker running +# https://stackoverflow.com/questions/30209776/docker-container-will-automatically-stop-after-docker-run-d +ENTRYPOINT ["tail"] +CMD ["-f","/dev/null"] diff --git a/docker/README.md b/docker/README.md new file mode 100644 index 0000000..845a400 --- /dev/null +++ b/docker/README.md @@ -0,0 +1,61 @@ +# Docker for LIO-Livox + +Using Docker is a quick and easy wasy to run LIO-Livox. + +## 1. Run the prebuilt dockers + +### Run the docker environment + +- Install Docker: . + +- Pull and run the Docker container: For the Melodic-based image, type following command to pull the Docker image and run a container. + +``` +docker run -d --network host --ipc host -e DISPLAY --volume /tmp/.X11-unix:/tmp/.X11-unix --volume /dev:/dev --privileged vietanhdev/lio_livox:ros-melodic-lio-1.0 +``` + +See the output or type "docker ps" to see the docker container id. Open a new terminal into the container by: + +``` +docker exec -it bash +``` + +For example: + +``` +➜ ~ docker run -d --network host --ipc host -e DISPLAY --volume /tmp/.X11-unix:/tmp/.X11-unix --volume /dev:/dev --privileged vietanhdev/lio_livox:ros-melodic-lio-1.0 +eeb215f0c25e +➜ ~ docker exec -it eeb215f0c25e bash +root@visionpc:/home/ros/catkin_ws# +``` + +- Open LIO-Livox in a Docker container. Replace `eeb215f0c25e` with your container id: + +``` +docker exec -it eeb215f0c25e bash +roslaunch lio_livox horizon.launch +``` + +You should see a window opened. If not, try running `xhost +local:docker` first and try again. + +- Open another window in the host machine and play the bag file: + +``` +rosbag play YOUR_ROSBAG.bag +``` + +**Note:** You can replace "melodic" with "kinetic" in all the above commands to run the Kinetic-based Docker image. I tested running ROS Kinetic in the Docker container and ROS Melodic on the host machine without any problem. You can still send and receive ROS messages between the inside and outside nodes. + +## 2. Rebuild the dockers + +- Build a docker from ROS Melodic base: + +``` +docker build . -f Dockerfile-melodic -t +``` + +- Build a docker from ROS Kinetic base: + +``` +docker build . -f Dockerfile-melodic -t +``` \ No newline at end of file