README.md

Simple Docker container (with a few fixes) to run Kimera-VIO's public repositories. The instructions below assume minimal knowledge of Docker (and thus may appear verbose to more experienced users).

See notes.md for details on what changes were made.

Usage

1. Install Docker

• ./docker-install_ubuntu-20.04.bash
  • Installs Docker on your system. If you already have Docker installed, skip this step.
  • Script assumes you are running Ubuntu 20.04. If you're not, consult an appropriate reference to install (don't use this script). You want Docker Engine (not Docker Desktop).
  • Official Docker Documentation (Ubuntu)
  • DigitalOcean's Documentation (Ubuntu 20.04)
  • This script based off on DigitalOcean's instructions (I find them more straight forward than Docker's official instructions).
• docker run hello-world
  • Test Docker installed properly. If you see "Hello from Docker!" message (followed by a bunch of other output), things worked.
  • First time you run this command it will download the hello-world image from the DockerHub, this is expected.

2. Build Docker Image

• ./build.bash
  • Builds the Docker image. Will take ~30min, even on fast computers.

3. Run Docker Image

• ./run.bash
  • Runs the Docker image. Bridges network. If you have ROS1 installed on your host system, you should be able to see a bunch of topics by typing rostopic list

4. Add data

• rosbag play test-data.bag
  • TODO add a bag file (these files get big since it contains stereo images + IMU data)
• Run a RealSense D435i
  • TODO add correct IMU settings and topic names

Repository Layout

• README.md: this file
• Dockerfile: recipe for kimera-vio-docker image
• build.bash: simple script to execute the docker build command
• run.bash: simple script to execute the docker run command
• bridge: directory that gets mounted as /root/bridge by run.bash
• copy: directory that contains files copied into image during its build; most notably copy/entrypoint.bash
• copy/entrypoint.bash: script that is run when image is executed; you can set ROS_MASTER_URI and ROS_IP in here; if you edit this file you need to re-run build.bash; if you comment out the ENTRYPOINT ["/entrypoint.bash"] line from Dockerfile (last line) and rebuild, you will simply get a terminal prompt when running
• copy/mesh_rviz_plugins.patch: small patch applied during to fix build
• bridge/start.bash: simple script to run the roslaunch command; useful if you launch to terminal prompt instead of a entrypoint script
• docker-install_ubuntu-20.04.bash: simple script to install docker-ce on Ubuntu 20.04; based on the DigitalOcean instructions
• notes.md: documents which commits each repository was on at the time of writing; many of the rosinstall repos depend on various master branches (i.e. are not pinned to specific commits), so future commits could break this build; if the build.bash fails, use these notes to restore Dockerfile to a working state

References

• Kimera-VIO-ROS Repo
• Kimera-VIO-ROS Install Instructions
• Kimera-VIO-ROS RealSense D435i Setup

TODO

• Add sample test-data.bag file
• Add instructions for rosbag play
• Add instructions for RealSense D435i
• Push DockerHub image