about docker

[huzhanxiaoxue]

do you have docker version of this.thanks for your reply .

[Rhymer-Lcy]

do you have docker version of this.thanks for your reply .

Currently, there is no official Docker image for this project. You can build one yourself using these approaches:

1. Create a custom Dockerfile

Refer to the README to create a Dockerfile containing all required dependencies (ROS Humble, PCL, Eigen, OpenCV, Sophus, etc.), then build and push the image to a container registry.

2. Use official ROS image

Start with the base ROS image and deploy the project workspace manually (including cloning the repository, installing additional dependencies, etc.):

docker pull osrf/ros:humble-desktop
docker run -it osrf/ros:humble-desktop

Then follow the build instructions in the README inside the container.

[mfruhner]

Hey,
I just want to leave my working Dockerfile, if you still need it:

FROM ros:humble-ros-base-jammy

ARG CMAKE_BUILD_TYPE=Release
ARG WS_DIR=/root/ws

WORKDIR ${WS_DIR}

# configure ROS packages
RUN apt update && \
    apt install -y ros-humble-rmw-cyclonedds-cpp \
    ros-humble-perception-pcl \
    ros-humble-pcl-msgs \
    ros-humble-vision-opencv \
    ros-humble-image-transport \
    ros-humble-compressed-image-transport \
    libeigen3-dev

RUN git clone https://github.com/Livox-SDK/Livox-SDK2.git /root/Livox-SDK2 \
    && cd /root/Livox-SDK2 \
    && mkdir build && cd build \
    && cmake .. -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} \
    && make -j$(nproc) \
    && make install


RUN git clone -b 1.22.10 https://github.com/strasdat/Sophus.git /root/Sophus \
    && cd /root/Sophus \
    && mkdir build && cd build && cmake .. \
    && make && make install

RUN mkdir ${WS_DIR}/src \
    && cd src \
    && git clone https://github.com/Livox-SDK/livox_ros_driver2.git \
    && git clone https://github.com/Rhymer-Lcy/FAST-LIVO2-ROS2-MID360-Fisheye.git \
    && git clone https://github.com/Rhymer-Lcy/rpg_vikit_ros2_fisheye.git /root/rpg_vikit \
    && cp -r /root/rpg_vikit/vikit_common /root/rpg_vikit/vikit_ros .

RUN /bin/bash -c "source /opt/ros/humble/setup.bash \
    && cd src/livox_ros_driver2 \
    && ./build.sh humble"

# make sure you have an entrypoint.sh file!
COPY entrypoint.sh ${WS_DIR}/
ENTRYPOINT ["./entrypoint.sh"]

and this entrypoint.sh:

#!/bin/bash

echo "Running Fast-LIVO2 Node with these parameters: $@"

source /opt/ros/${ROS_DISTRO}/setup.bash
source /root/ws/install/setup.bash

echo "ROS 2 environment sourced"
printenv | grep ROS

ros2 launch fast_livo mapping_aviz.launch.py use_sim_time:=True

Maik