X-lanni
52 lines
1.8 KiB
Markdown
52 lines
1.8 KiB
Markdown
### Docker
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* Available images on [introlab3it/rtabmap_ros](https://hub.docker.com/r/introlab3it/rtabmap_ros/):
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```
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humble, humble-latest
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jazzy, jazzy-latest
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```
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* 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.
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* Launch `rtabmap` from inside the container (**no gui**), saving the database on host `~/.ros/rtabmap.db`:
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```bash
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docker run -it --rm \
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--user $UID \
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-e ROS_HOME=/tmp/.ros \
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-e OMP_WAIT_POLICY=passive \
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--network=host \
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--ipc=host \
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-v ~/.ros:/tmp/.ros \
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introlab3it/rtabmap_ros:humble-latest \
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ros2 launch rtabmap_launch rtabmap.launch.py rtabmap_viz:=false database_path:=/tmp/.ros/rtabmap.db rtabmap_args:="--delete_db_on_start"
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```
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* Launch `rtabmap_viz` from inside the container, using [nvidia-docker2 approach](http://wiki.ros.org/docker/Tutorials/Hardware%20Acceleration#nvidia-docker2):
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```bash
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# those following 3 lines would need to be done only one time
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XAUTH=/tmp/.docker.xauth
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touch $XAUTH
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xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
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docker run -it --rm \
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--privileged \
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-e DISPLAY=$DISPLAY \
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-e QT_X11_NO_MITSHM=1 \
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-e NVIDIA_VISIBLE_DEVICES=all \
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-e NVIDIA_DRIVER_CAPABILITIES=all \
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-e XAUTHORITY=$XAUTH \
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-e OMP_WAIT_POLICY=passive \
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--user $UID \
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-e ROS_HOME=/tmp/.ros \
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-v ~/.ros:/tmp/.ros \
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--runtime=nvidia \
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--network=host \
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--ipc=host \
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-v $XAUTH:$XAUTH \
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-v /tmp/.X11-unix:/tmp/.X11-unix \
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introlab3it/rtabmap_ros:humble-latest \
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/bin/bash -c "ros2 run rtabmap_viz rtabmap_viz --ros-args -r __ns:=/rtabmap"
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```
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