Build the images

cd ros
make build

Allow X Server to accept connections from docker

xhost +local:docker

Run the docker image with the SDK provided by YDLIDAR https://www.ydlidar.com/service_support/download.html?gid=23

docker run -it --rm --privileged -v /tmp/.X11-unix:/tmp/.X11-unix:ro \
    -e DISPLAY=$DISPLAY --net=host ros:noetic-ydlidar-os30a

Start the ros node

source /ydlidar_os30a/bimu-rgbd-camera/devel/setup.bash
roslaunch bimu_rgbd_camera bimu_camera.launch

Run the docker image for https://github.com/eYs3D/eys3d_ros/

docker run -it --rm --privileged -v /tmp/.X11-unix:/tmp/.X11-unix:ro \
    -e DISPLAY=$DISPLAY --net=host ros:noetic-eys3d-ros

Start the ros node

source /eys3d_ros/devel/setup.bash
roslaunch dm_preview BMVM0S30A.launch

Run the whole thing

xhost +local:docker
docker run -it --rm --privileged -v /tmp/.X11-unix:/tmp/.X11-unix:ro     \
    -e DISPLAY=$DISPLAY --net=host andreiciobanu1984/robots:robot-dog-3d-depth-camera /bin/bash \
    -c 'source /robot/devel/setup.bash; roslaunch robot_dog robot.launch'