russelldj / frankensamdocker Goto Github PK

This builds an environment for LIOSAM for the new payload.

You can run source build_dockerfile.sh to build the docker file.

Then you should be able to see frankensam after running docker image ls.

Enter the container with run_docker.sh. This will create a data directory and bags and results subdirectories if they don't exist. Then you will be dropped into a shell in the docker container. Within the container, run cd ~/catkin_ws and run source devel/setup.bash. Now you can run roslaunch liovil_sam run.launch.

You should now place the rosbags in the data/bags folder on your host machine. They will show up within the docker instance in ~/data/bags. Now you can play the rosbag.

It may be useful to start a tmux session to run all the components at once. Perhaps there are other ways to attach multiple terminals to a running session, but I don't know them.