jike5/vins-mono-docker

VINS-Mono Docker

1. Pull image from docker hub

docker image pull jike5/vins-mono:cpu

Maybe you need login first

docker login -u [UserName]

2. Build image

You can modify the Dockerfile and build your own image:

docker image build -t jike5/vins-mono:cpu .

For proxy:

docker image build -t jike5/vins-mono:cpu . --build-arg HTTP_PROXY=http://127.0.0.1:58591 --build-arg HTTPS_PROXY=http://127.0.0.1:58591 --build-arg ALL_PROXY=socks5://127.0.0.1:51837 --network host

3. Run docker container

If it is the first time, you should run below to download and build vins-mono:

sudo ./build_container_cpu.sh

For the next time, just run below:

sudo ./build_container_vins.sh

In vins_ws was modified by container user, you may need to change permission：

sudo chmod 777 -R ./*

4. Euroc Example

First, you should check your Datasets directory in the build_container_vins.sh

-v [Your Euroc Dataset Path(absolute)]:/Datasets

Run the container:

docker exec -it vins bash

Make sure you have run build_container_cpu.sh or build_container_vins.sh firstly.

source vins_ws/devel/setup.bash
roslaunch vins_estimator euroc.launch
roslaunch vins_estimator vins_rviz.launch
rosbag play [YOUR_PATH].bag