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🐳 Docker

We offer a docker image available on DockerHub to easily pull and use. Otherwise, one can just build it locally.

Running S-Graphs

Pre-requisite

Before running, you need some dataset to run on S-Graphs. We provide a real dataset collected by us. You can download it here.

Important

Place the downloaded file under ~/Downloads/real

Once you have downloaded, you can now run the container as follows:

Important

Before anything, in order to have rviz working, run the following command: xhost +local:docker

docker run -it --rm  \
    -e "$DISPLAY" -v "/tmp/.X11-unix:/tmp/.X11-unix:rw" \
    -v ~/Downloads/real:/root/Downloads/real \
    sntarg/s_graphs:latest bash

Then, once inside the container, run mprocs_real

Build Docker Image manually

  1. Create a ROS2 workspace for S-Graphs

  2. Clone lidar_situational_graphs repository

git clone git@github.com:snt-arg/lidar_situational_graphs.git s_graphs && cd s_graphs
  1. Build image

Info

You can use the build argument COLCON_JOBS in order to specify the amount of CPUs cmake will use. By default it is set to 4. lidar_situational_graphs is memory hungry when building, so choose wisely.

docker build -t sntarg/s_graphs -f docker/humble/Dockerfile \
    --build-arg COLCON_JOBS=4 .