Docker

We provide Dockerfiles for both ROS1 Noetic (Ubuntu 20.04) and ROS2 Humble (Ubuntu 22.04) with all dependencies installed.

ROS1 Noetic

Building the Docker Image

To build the docker image, simply run:

docker/bin/build_ros1_noetic_image.sh

Running the Docker Container

To run the docker container, you can use the following command:

docker/bin/run_ros1_noetic_container.sh

This will start a new container from the $USER (not sudo) to avoid permission issues with the workspace. The whole $HOME folder is shared with the container, so you can access and develop inside your workspace. The repository is mounted into /ros_ws/src/holistic_fusion, and third-party dependencies are automatically imported on first startup via vcs import. The catkin workspace is initialized with cmake-args -DCMAKE_BUILD_TYPE=Release.

ROS2 Humble

Building the Docker Image

To build the docker image, simply run:

docker/bin/build_ros2_humble_image.sh

Running the Docker Container

To run the docker container, you can use the following command:

docker/bin/run_ros2_humble_container.sh

This will start a new container from the $USER (not sudo) to avoid permission issues with the workspace. The whole $HOME folder is shared with the container, so you can access and develop inside your workspace. The repository is mounted into /ros2_ws/src/holistic_fusion, and third-party dependencies are automatically imported on first startup via vcs import.

A convenience function colcon_build_up_to is available inside the container, e.g.:

colcon_build_up_to smb_estimator_graph_ros2

This wraps colcon build --symlink-install --cmake-args -DPYTHON_EXECUTABLE=/usr/bin/python3 -DCMAKE_BUILD_TYPE=RelWithDebInfo --event-handlers console_direct+ --packages-up-to <package>.