suchetanrs/lego-loam-ros2-docker

1. Clone the repository
2. cd into the repository
3. Run ./docker_install.sh
4. Run sudo docker build -t lego-loam-dashing:18.04 .
5. Run xhost +
6. Run sudo docker-compose run ros2-dashing-base

This will start a new container.

7. After you are inside the docker, to verify if you have x-11 forwarding setup correctly, run xeyes

To launch a new terminal in this running container, in a new terminal on your host machine run sudo docker ps Make note of the container ID of the lego-loam container.

Then run sudo docker exec -it <container id> bash

The container has free communication with all topics from your host machine. All the topics running on your host will be visible inside the container.

To build LeGO LOAM, inside the container run the following

cd /home/lego/gtsam-4.0.0-alpha2
mkdir build && cd build
cmake ..
sudo make install -j6
cd /home/lego/dev_ws
colcon build --symlink-install
source /opt/ros/dashing/setup.bash
source /home/lego/dev_ws/install/setup.bash

To launch LeGO LOAM, edit the following files based on your preference.

1. /home/lego/dev_ws/src/LeGO-LOAM-SR/LeGO-LOAM/launch/run.launch.py
2. /home/lego/dev_ws/src/LeGO-LOAM-SR/LeGO-LOAM/config/loam_config.yaml

After you have done this, run ros2 launch lego_loam_sr run.launch.py