/My-docker-env

  1. sudo docker run -itd --name szz --net=host --mount type=bind,source=/Users/szz/Documents/ros_ws,target=/root/ros_ws ct2034/vnc-ros-kinetic-full bash
  2. apt-get update
  3. apt-get upgrade
  4. apt-get install net-tools wget curl nano inetutils-ping apt-rdepends
  5. echo "source /opt/ros/kinetic/setup.bash" >> /root/.bashrc
  6. source /root/.bashrc
  7. rosdep update
  8. mkdir ros_ws
  9. cd ros
  10. mkdir src
  11. cd /root
  12. mkdir Libs

install Hokuyo

  1. cd ros_ws/src
  2. mkdir hokuyo
  3. cd hokuyo
  4. git clone https://github.com/ros-drivers/driver_common.git
  5. git clone https://github.com/ros-perception/laser_proc.git
  6. git clone https://github.com/ros-drivers/urg_c.git
  7. git clone https://github.com/ros-drivers/urg_node.git
  8. cd /root/ros_ws
  9. catkin_make
  10. cd /root

install Cartographer

  1. sudo apt-get install -y clang g++ git google-mock libboost-all-dev libcairo2-dev libcurl4-openssl-dev libeigen3-dev libgflags-dev libgoogle-glog-dev liblua5.2-dev libsuitesparse-dev ninja-build python-sphinx libpcl-dev ros-kinetic-pcl-conversions ros-kinetic-tf2-eigen
  2. cd /root/Libs
  3. git clone https://github.com/eigenteam/eigen-git-mirror.git
  4. cd eigen-git-mirror
  5. git checkout 3.2.7
  6. mkdir build
  7. cd build
  8. cmake ..
  9. make install
  10. cp -r /usr/local/include/eigen3/Eigen /usr/local/include
  11. cd /root/Libs
  12. git clone https://github.com/ceres-solver/ceres-solver.git
  13. cd ceres-solver
  14. git checkout 1.13.0
  15. mkdir build
  16. cd build
  17. cmake .. -G Ninja -DCX11=ON
  18. ninja
  19. sudo ninja install
  20. cd /root/Libs
  21. git clone https://github.com/google/protobuf.git
  22. cd protobuf
  23. mkdir build
  24. cd build
  25. cmake -G Ninja -DCMAKE_POSITION_INDEPENDENT_CODE=ON -DCMAKE_BUILD_TYPE=Release -Dprotobuf_BUILD_TESTS=OFF ../cmake
  26. ninja
  27. sudo ninja install
  28. cd /root/Libs
  29. git clone https://github.com/larics/cartographer_frontier_detection.git
  30. cd cartographer_frontier_detection
  31. cd cartographer
  32. mkdir build
  33. cd build
  34. cmake .. -G Ninja -DCXX11=ON
  35. ninja
  36. sudo ninja install
  37. cd ../..
  38. cp -r cartographer_ros/ /root/ros_ws/src/
  39. cd /root/ros_ws/
  40. catkin_make
  41. cd /root

install rrt_exploration

  1. apt-get install ros-kinetic-gmapping ros-kinetic-navigation python-opencv python-numpy python-scikits-learn ros-kinetic-kobuki ros-kinetic-kobuki-core ros-kinetic-kobuki-gazebo
  2. cd /root/ros_ws/src
  3. mkdir rrt_exploration
  4. cd rrt_exploration
  5. git clone https://github.com/hasauino/rrt_exploration_tutorials.git
  6. cd /root/ros_ws
  7. catkin_make
  8. cd /root
  9. mkdir .gazebo
  10. cd .gazebo
  11. mkdir models
  12. cd models
  13. wget http://file.ncnynl.com/ros/gazebo_models.txt
  14. wget -i gazebo_models.txt
  15. ls model.tar.g* | xargs -n1 tar xzvf
  16. rm model.tar.gz.*