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.