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64 lines
3.4 KiB
Markdown
64 lines
3.4 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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indigo, indigo-latest
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kinetic, kinetic-latest
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melodic, melodic-latest
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noetic, noetic-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. The other images have the same version than the binaries released on ROS.
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* 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):
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```bash
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$ export ROS_IP=172.17.0.1 && roslaunch openni2_launch openni2.launch depth_registration:=true
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# In another terminal, launch rtabmapviz or RVIZ. We do visualization
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# on host computer to avoid GPU problems with the container (see "with gui" below to launch rtabmapviz from the container):
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$ export ROS_NAMESPACE=rtabmap && rosrun rtabmap_ros rtabmapviz _frame_id:=camera_link
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```
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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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--env ROS_MASTER_URI=http://172.17.0.1:11311 --env ROS_IP=172.17.0.2 \
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-v ~/.ros:/root \
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introlab3it/rtabmap_ros:kinetic-latest \
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roslaunch rtabmap_ros rtabmap.launch rtabmapviz:=false database_path:=/root/rtabmap.db rtabmap_args:="--delete_db_on_start"
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```
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* 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`:
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* With [nvidia-docker2 approach](http://wiki.ros.org/docker/Tutorials/Hardware%20Acceleration#nvidia-docker2), we would have this Dockerfile:
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```docker
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FROM introlab3it/rtabmap_ros:noetic
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# nvidia-container-runtime
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ENV NVIDIA_VISIBLE_DEVICES \
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${NVIDIA_VISIBLE_DEVICES:-all}
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ENV NVIDIA_DRIVER_CAPABILITIES \
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${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
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```
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Building the image and run it:
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```bash
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$ docker build -t rtabmap_ros3d .
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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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--env="DISPLAY=$DISPLAY" \
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--env="QT_X11_NO_MITSHM=1" \
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--volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
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--env="XAUTHORITY=$XAUTH" \
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--volume="$XAUTH:$XAUTH" \
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--runtime=nvidia \
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--env ROS_MASTER_URI=http://172.17.0.1:11311 --env ROS_IP=172.17.0.2 \
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-v ~/.ros:/root \
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rtabmap_ros3d \
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roslaunch rtabmap_ros rtabmap.launch database_path:=/root/rtabmap.db rtabmap_args:="--delete_db_on_start"
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```
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