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Merge pull request cggos#33 from cggos/develop
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‎CMakeLists.txt

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@@ -180,18 +180,19 @@ target_link_libraries(imu_vo_map_node ${catkin_LIBRARIES} ${OpenCV_LIBS} ${CERES
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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# install(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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# Mark executable scripts (Python etc.) for installation
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# in contrast to setup.py, you can choose the destination
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install(PROGRAMS
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scripts/folium_csv.py
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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## Mark executables for installation
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## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
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# install(TARGETS ${PROJECT_NAME}_node
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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# Mark executables for installation
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# See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
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install(TARGETS
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imu_gnss_ekf_node imu_vo_ekf_node imu_vo_ukf_node imu_vo_map_node
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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## Mark libraries for installation
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## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
@@ -201,13 +202,27 @@ target_link_libraries(imu_vo_map_node ${catkin_LIBRARIES} ${OpenCV_LIBS} ${CERES
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# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
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# )
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## Mark cpp header files for installation
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# install(DIRECTORY include/${PROJECT_NAME}/
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# # Mark cpp header files for installation
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# install(DIRECTORY include/common/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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install(DIRECTORY
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include/common
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include/estimator
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include/fusion
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include/sensor
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}/../
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)
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install(DIRECTORY
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config
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launch
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(FILES
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# # myfile1

‎scripts/docker/Dockerfile

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# This is an auto generated Dockerfile for ros:robot
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# generated from docker_images/create_ros_image.Dockerfile.em
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FROM ros:melodic-ros-base-bionic
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# Set the working directory to /root
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ENV DIRPATH /root
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WORKDIR $DIRPATH
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# install ros packages
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RUN apt-get update && apt-get install -y ros-melodic-robot=1.4.1-0*
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# && rm -rf /var/lib/apt/lists/*
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RUN apt install -y ros-melodic-nmea-navsat-driver libgeographic-dev
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RUN apt install -y git cmake wget python-catkin-tools
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RUN apt install -y libopencv-dev
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# # Install OpenCV for Ubuntu 18.04
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# RUN apt-get update && apt-get install -y \
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# build-essential cmake unzip pkg-config \
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# libjpeg-dev libpng-dev libtiff-dev \
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# libvtk6-dev \
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# libgtk-3-dev \
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# libatlas-base-dev gfortran
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#
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# RUN git clone https://github.com/opencv/opencv.git
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# RUN cd opencv && \
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# git checkout tags/3.3.1 && \
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# mkdir build -j$(nproc)
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#
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# RUN git clone https://github.com/opencv/opencv_contrib.git
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# RUN cd opencv_contrib && \
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# git checkout tags/3.3.1
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#
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# RUN cd opencv/build && \
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# cmake -DCMAKE_BUILD_TYPE=Release \
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# -DCMAKE_INSTALL_PREFIX=/usr/local \
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# -D BUILD_opencv_python=OFF \
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# -D BUILD_opencv_python2=OFF \
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# -D BUILD_opencv_python3=OFF \
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# -DOPENCV_EXTRA_MODULES_PATH=$DIRPATH/opencv_contrib/modules .. && \
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# make -j$(nproc) install
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RUN apt install -y libeigen3-dev libgoogle-glog-dev libgflags-dev libatlas-base-dev libsuitesparse-dev
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RUN cd $DIRPATH
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RUN wget http://ceres-solver.org/ceres-solver-2.1.0.tar.gz && tar xvzf ceres-solver-2.1.0.tar.gz && \
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cd ceres-solver-2.1.0 && mkdir build && cd build && cmake .. && make install -j$(nproc)
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ENV TERM xterm
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ENV PYTHONIOENCODING UTF-8
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RUN cd $DIRPATH
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# dataset
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RUN mkdir $DIRPATH/dataset
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RUN wget -P $DIRPATH/dataset https://cggos.i234.me:5001/fsdownload/wYejg2zlD/orbslam2_v101easy.bag
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RUN mkdir -p $DIRPATH/ws_msf/src
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RUN git clone https://github.com/cggos/imu_x_fusion.git $DIRPATH/ws_msf/src/imu_x_fusion
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WORKDIR $DIRPATH/ws_msf
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RUN catkin config --extend /opt/ros/$ROS_DISTRO --cmake-args -DCMAKE_BUILD_TYPE=Release && \
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catkin build -j4 && \
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sed -i '/exec "$@"/i \
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source "/root/ws_msf/devel/setup.bash"' /ros_entrypoint.sh
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# RUN source $DIRPATH/ws_msf/devel/setup.bash

‎scripts/docker/build.sh

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#!/bin/bash
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sudo docker build -t imu_x_fusion -f ./scripts/docker/Dockerfile .

‎scripts/docker/run.sh

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#!/bin/bash
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trap : SIGTERM SIGINT
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roscore &
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ROSCORE_PID=$!
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sleep 1
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rviz -d ../../rviz/imu_vo_fusion.rviz &
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RVIZ_PID=$!
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docker run \
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-it \
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--rm \
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--net=host \
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-v /root/ws_msf/src/imu_x_fusion/ \
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/bin/bash -c \
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"cd /root/ws_msf/; \
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catkin config \
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--env-cache \
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--extend /opt/ros/$ROS_DISTRO \
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--cmake-args \
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-DCMAKE_BUILD_TYPE=Release; \
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catkin build; \
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source devel/setup.bash; \
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roslaunch imu_x_fusion imu_vo_fusion.launch est:=ekf"
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wait $ROSCORE_PID
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wait $RVIZ_PID
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if [[ $? -gt 128 ]]
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then
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kill $ROSCORE_PID
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kill $RVIZ_PID
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fi

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