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Updated docker usage examples

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matlabbe
2023-04-23 14:44:02 -07:00
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melodic, melodic-latest melodic, melodic-latest
noetic, noetic-latest noetic, noetic-latest
``` ```
* The `-latest` images are automatically built from latest version of `rtabmap` and `rtabmap_ros` from source (including GTSAM and libpointmatcher dependencies that are not available with ROS binaries). The other images have the same version than the binaries released on ROS. * 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.
* The following example show how to launch a camera on host computer and run our pre-built rtabmap container. All examples from [RGB-D tutorial](http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping) and [stereo tutorial](http://wiki.ros.org/rtabmap_ros/Tutorials/StereoHandHeldMapping) should work using rtabmap from the container instead. Launch camera on host computer (set ROS_IP as the IP used for docker):
```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 (see "with gui" below to launch rtabmapviz from the container):
$ export ROS_NAMESPACE=rtabmap && rosrun rtabmap_ros rtabmapviz _frame_id:=camera_link
```
* Launch `rtabmap` from inside the container (**no gui**), saving the database on host `~/.ros/rtabmap.db`: * Launch `rtabmap` from inside the container (**no gui**), saving the database on host `~/.ros/rtabmap.db`:
```bash ```bash
$ docker run -it --rm \ docker run -it --rm \
--env ROS_MASTER_URI=http://172.17.0.1:11311 --env ROS_IP=172.17.0.2 \ --user $UID \
-v ~/.ros:/root \ -e ROS_HOME=/tmp \
introlab3it/rtabmap_ros:kinetic-latest \ --network host \
roslaunch rtabmap_ros rtabmap.launch rtabmapviz:=false database_path:=/root/rtabmap.db rtabmap_args:="--delete_db_on_start" -v ~/.ros:/tmp \
introlab3it/rtabmap_ros:noetic-latest \
roslaunch --wait rtabmap_launch rtabmap.launch rtabmap_viz:=false database_path:=/tmp/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 other GPUs try the intel/AMD [instructions](http://wiki.ros.org/action/fullsearch/docker/Tutorials/Hardware%20Acceleration) to build a `rtabmap_ros3d` image with your GPU driver), saving the database on host `~/.ros/rtabmap.db`: * Launch `rtabmap` from inside the container (**with gui**), saving the database on host `~/.ros/rtabmap.db`, using [nvidia-docker2 approach](http://wiki.ros.org/docker/Tutorials/Hardware%20Acceleration#nvidia-docker2):
* With [nvidia-docker2 approach](http://wiki.ros.org/docker/Tutorials/Hardware%20Acceleration#nvidia-docker2), we would have this Dockerfile: ```bash
```docker # those following 3 lines would need to be done only one time
FROM introlab3it/rtabmap_ros:noetic XAUTH=/tmp/.docker.xauth
touch $XAUTH
xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
# nvidia-container-runtime docker run -it --rm \
ENV NVIDIA_VISIBLE_DEVICES \ --privileged \
${NVIDIA_VISIBLE_DEVICES:-all} --user $UID \
ENV NVIDIA_DRIVER_CAPABILITIES \ -e ROS_HOME=/tmp \
${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics -e DISPLAY=$DISPLAY \
``` -e QT_X11_NO_MITSHM=1 \
Building the image and run it: -e NVIDIA_VISIBLE_DEVICES=all \
```bash -e NVIDIA_DRIVER_CAPABILITIES=all \
$ docker build -t rtabmap_ros3d . -e XAUTHORITY=$XAUTH \
--runtime=nvidia \
# those following 3 lines would need to be done only one time --network host \
$ XAUTH=/tmp/.docker.xauth -v $XAUTH:$XAUTH \
$ touch $XAUTH -v /tmp/.X11-unix:/tmp/.X11-unix \
$ xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge - -v ~/.ros:/tmp \
introlab3it/rtabmap_ros:noetic-latest \
$ docker run -it --rm \ roslaunch --wait rtabmap_launch rtabmap.launch database_path:=/tmp/rtabmap.db gui_cfg:=/tmp/rtabmap_gui.ini rtabmap_args:="--delete_db_on_start"
--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"
```