merge main

Author: Schmluk

Dockerfile

@@ -0,0 +1,29 @@
+FROM osrf/ros:noetic-desktop-full
+LABEL maintainer="Kin Zhang <[email protected]>"
+
+# Just in case we need it
+ENV DEBIAN_FRONTEND noninteractive
+
+# install zsh
+RUN apt update && apt install -y wget git zsh tmux vim g++
+RUN sh -c "$(wget -O- https://github.com/deluan/zsh-in-docker/releases/download/v1.1.5/zsh-in-docker.sh)" -- \
+  -t robbyrussell \
+  -p git \
+  -p ssh-agent \
+  -p https://github.com/agkozak/zsh-z \
+  -p https://github.com/zsh-users/zsh-autosuggestions \
+  -p https://github.com/zsh-users/zsh-completions \
+  -p https://github.com/zsh-users/zsh-syntax-highlighting
+
+RUN echo "source /opt/ros/noetic/setup.zsh" >> ~/.zshrc
+RUN echo "source /opt/ros/noetic/setup.bashrc" >> ~/.bashrc
+
+RUN mkdir -p /workspace/dynablox_ws
+RUN git clone --recurse-submodules https://github.com/ethz-asl/dynablox.git /workspace/dynablox_ws/src/dynablox
+RUN apt-get install -y python3-vcstool python3-catkin-tools ros-noetic-cmake-modules protobuf-compiler autoconf rsync libtool
+# dynablox dependencies
+RUN cd /workspace/dynablox_ws/src && vcs import . < ./dynablox/https.rosinstall --recursive
+# ouster driver dependencies
+RUN cd /workspace && git clone https://github.com/gabime/spdlog.git && cd spdlog && mkdir build && cd build  && cmake .. -DCMAKE_CXX_FLAGS=-fPIC && make -j && make install
+
+WORKDIR /workspace/dynablox_ws

README.md

@@ -45,6 +45,9 @@ A brief overview of the problem, approach, and results is available on youtube:
 
 
 # Setup
+
+There is a [docker image](https://hub.docker.com/repository/docker/zhangkin/dynablox/general) available for this package. Check the usage in the dockerhub page.
+
 ## Installation
 
 * **Note on Versioning:** This package was developed using Ubuntu 20.04 using ROS Noetic. Other versions should also work but support can not be guaranteed.

dynablox_ros/scripts/download_dynablox_data.sh

@@ -20,7 +20,7 @@ echo "";
 echo "Downloading and processing scenes. This may take a few minutes ...";
 
 # Get data.
-gdown 1RDmv3YabIRfx6i0qsr5aFWozVnwJyFun -O $1
+wget http://robotics.ethz.ch/~asl-datasets/2023_RAL_Dynablox/processed.zip -P $1
 unzip $1/processed.zip -d $1
 rm $1/processed.zip
 

dynablox_ros/src/cloud_visualizer_node.cpp

@@ -1,3 +1,4 @@
+#include <gflags/gflags.h>
 #include <ros/ros.h>
 
 #include "dynablox_ros/visualization/cloud_visualizer.h"

dynablox_ros/src/motion_detector_node.cpp

@@ -1,3 +1,4 @@
+#include <gflags/gflags.h>
 #include <ros/ros.h>
 
 #include "dynablox_ros/motion_detector.h"