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matlabbe
2020-06-11 10:52:28 -04:00
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commit 36d6b2058b
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@@ -14,7 +14,7 @@
```bash
$ export ROS_IP=172.17.0.1 && roslaunch openni2_launch openni2.launch depth_registration:=true
# In another terminal, launch rtabmapviz or RVIZ. We do visualization
# on host computer to avoid GPU problems with the container:
# on host computer to avoid GPU problems with the container (see "with gui" below to launch rtabmapviz from the container):
$ export ROS_NAMESPACE=rtabmap && rosrun rtabmap_ros rtabmapviz _frame_id:=camera_link
```
@@ -27,13 +27,37 @@
roslaunch rtabmap_ros rtabmap.launch rtabmapviz:=false database_path:=/root/rtabmap.db rtabmap_args:="--delete_db_on_start"
```
* Launch `rtabmap` from inside the container (**with gui**, follow those [instructions](https://github.com/introlab/rtabmap/wiki/Installation#rtab-map-desktop-ubuntu-1604) to build a `rtabmap_ros3d` image with your GPU driver), saving the database on host `~/.ros/rtabmap.db`:
```bash
$ xhost +
$ docker run -it --rm \
--privileged -e "DISPLAY=unix$DISPLAY" -v="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
--env ROS_MASTER_URI=http://172.17.0.1:11311 --env ROS_IP=172.17.0.2 \
-v ~/.ros:/root \
rtabmap_ros3d \
roslaunch rtabmap_ros rtabmap.launch database_path:=/root/rtabmap.db rtabmap_args:="--delete_db_on_start"
```
* Launch `rtabmap` from inside the container (**with gui**, if you have a nvidia GPU, follow those [instructions](http://wiki.ros.org/docker/Tutorials/Hardware%20Acceleration#nvidia-docker2) with nvidia-docker2 using one of the images above instead of the ros image example, or for older computers and other GPUs try those [instructions](https://github.com/introlab/rtabmap/wiki/Installation#rtab-map-desktop-ubuntu-1604) to build a `rtabmap_ros3d` image with your GPU driver), saving the database on host `~/.ros/rtabmap.db`:
* With [nvidia-docker2 approach](http://wiki.ros.org/docker/Tutorials/Hardware%20Acceleration#nvidia-docker2), we would have this Dockerfile:
```docker
FROM introlab3it/rtabmap_ros:noetic
# nvidia-container-runtime
ENV NVIDIA_VISIBLE_DEVICES \
${NVIDIA_VISIBLE_DEVICES:-all}
ENV NVIDIA_DRIVER_CAPABILITIES \
${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
```
Building the image and run it:
```bash
$ docker build -t rtabmap_ros3d .
# 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 \
--env="DISPLAY=$DISPLAY" \
--env="QT_X11_NO_MITSHM=1" \
--volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
--env="XAUTHORITY=$XAUTH" \
--volume="$XAUTH:$XAUTH" \
--runtime=nvidia \
--env ROS_MASTER_URI=http://172.17.0.1:11311 --env ROS_IP=172.17.0.2 \
-v ~/.ros:/root \
rtabmap_ros3d \
roslaunch rtabmap_ros rtabmap.launch database_path:=/root/rtabmap.db rtabmap_args:="--delete_db_on_start"
```