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🐳 Docker

Build Docker Image

  1. Create a ROS2 workspace for S-Graphs
mkdir -p $HOME/workspaces && cd $HOME/workspaces
  1. Change directory to where Dockerfile is located in s_graphs
git clone git@github.com:snt-arg/lidar_situational_graphs.git -b feature/multi_floor s_graphs && cd $HOME/workspaces/s_graphs/docker/foxy_noetic
  1. Build image
docker build -t sntarg/s_graphs .

Note

There are two docker files, one for foxy and another for humble. The above commands build the foxy image, you use the same commands to build the humble image if needed.

Running S-Graphs with Docker

  1. Create a container for the s_graphs image.
docker run -dit --volume=/tmp/.X11-unix:/tmp/.X11-unix:rw --network=host -e DISPLAY=$DISPLAY --name s_graphs_container sntarg/s_graphs

  1. Download the dataset you desire from above to your local machine.

  2. Move the rosbag inside docker container

docker cp ~/Downloads/real s_graphs_container:/root/Downloads/real # For real dataset
# OR
docker cp ~/Downloads/virtual s_graphs_container:/root/Downloads/virtual # For virtual dataset
  1. Execute the container
docker exec -ti s_graphs_container bash

Danger

If rviz2 doesnt open inside the docker, do xhost + in a terminal of your pc and then relaunch the mprocs command inside docker.

  1. Run mprocs
mprocs_real