NemoLeiYANG / slam_docker_collection

A collection of docker environments for 3D SLAM packages

slam_docker_collection

This is my personal attempt to create reusable and portable environments for 3D SLAM with docker. I think SLAM packages are always difficult to build from scratch in particular when we use different versions of ROS/Ubuntu/libraries.

Basic Usage

1. Update submodule:

cd slam_docker_collection
git submodule init
git submodule update hdl_graph_slam

2. Build docker image:

cd slam_docker_collection/hdl_graph_slam/docker
./build.sh

3. Run docker image:

cd slam_docker_collection/hdl_graph_slam/docker
./run.sh -v ~/datasets:/datasets  # you can put more docker run arguments here

# in docker
roslaunch hdl_graph_slam hdl_graph_slam_400.launch

Dockernized packages

Build status	Docker hub	Package	Short Usage
		ethzasl_icp_mapping	[usage]
		hdl_graph_slam	[usage]
		LOAM	[usage]
		LeGO-LOAM	[usage]
		SuMa	[usage]
		LINS	[usage]
		LIO-mapping	[usage]
		LIO-SAM	[usage]
		FAST-LIO	[usage]
		FAST-LIVO	[usage]
		VoxelMap	[usage]
		BALM	[usage]
		direct_lidar_odometry	[usage]
		D-LIOM	[usage]
		clins	[usage]
		Voxblox	[usage]
		Voxgraph	[usage]

LOAM	hdl_graph_slam	LIO-SAM

LINS	SuMa	voxgraph