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matlabbe
2020-06-10 10:33:57 -04:00
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commit 59fdc8a786
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@@ -18,7 +18,7 @@
$ export ROS_NAMESPACE=rtabmap && rosrun rtabmap_ros rtabmapviz _frame_id:=camera_link $ 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 \ --env ROS_MASTER_URI=http://172.17.0.1:11311 --env ROS_IP=172.17.0.2 \
@@ -26,3 +26,14 @@
introlab3it/rtabmap_ros:kinetic-latest \ introlab3it/rtabmap_ros:kinetic-latest \
roslaunch rtabmap_ros rtabmap.launch rtabmapviz:=false database_path:=/root/rtabmap.db rtabmap_args:="--delete_db_on_start" 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"
```