agv_pro_ros2/rtabmap_ros/docker/README.md

Docker

• Available images on introlab3it/rtabmap_ros:

  humble, humble-latest
  jazzy, jazzy-latest
  

  • The -latest images are automatically built from latest version of rtabmap and rtabmap_ros from source (including dependencies that are not available with ROS binaries). The other images have the same version than the binaries released on ROS.

• Launch rtabmap from inside the container (no gui), saving the database on host ~/.ros/rtabmap.db:

  docker run -it --rm \
   --user $UID \
   -e ROS_HOME=/tmp/.ros \
   -e OMP_WAIT_POLICY=passive \
   --network=host \
   --ipc=host \
   -v ~/.ros:/tmp/.ros \
   introlab3it/rtabmap_ros:humble-latest \
   ros2 launch rtabmap_launch rtabmap.launch.py rtabmap_viz:=false database_path:=/tmp/.ros/rtabmap.db rtabmap_args:="--delete_db_on_start"
  

• Launch rtabmap_viz from inside the container, using nvidia-docker2 approach:

   # those following 3 lines would need to be done only one time
   XAUTH=/tmp/.docker.xauth
   touch $XAUTH
   xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
  
   docker run -it --rm \
     --privileged \
     -e DISPLAY=$DISPLAY \
     -e QT_X11_NO_MITSHM=1 \
     -e NVIDIA_VISIBLE_DEVICES=all \
     -e NVIDIA_DRIVER_CAPABILITIES=all \
     -e XAUTHORITY=$XAUTH \
     -e OMP_WAIT_POLICY=passive \
     --user $UID \
     -e ROS_HOME=/tmp/.ros \
     -v ~/.ros:/tmp/.ros \
     --runtime=nvidia \
     --network=host \
     --ipc=host \
     -v $XAUTH:$XAUTH \
     -v /tmp/.X11-unix:/tmp/.X11-unix \
     introlab3it/rtabmap_ros:humble-latest \
     /bin/bash -c "ros2 run rtabmap_viz rtabmap_viz --ros-args -r __ns:=/rtabmap"