voxfield_docker

DISCLAIMER: This is an unofficial, community-maintained Docker image for voxfield. It is not affiliated with or endorsed by the original voxfield project authors.

Installation

Install tools:

pip install vcstool

Pull dependencies:

vcs import < voxfield_https.repos

Build docker image:

cd <path/to/voxfield_docker>
./docker/build_image.sh

Examples

Download examples:

mkdir data; cd data &&\
   wget -O lihra.zip https://zenodo.org/api/records/17047851/files/lihra.zip/content

OR

Download ROS1 examples (used in original voxfield):

mkdir data; cd data &&\
   wget http://robotics.ethz.ch/\~asl-datasets/iros_2017_voxblox/data.bag &&\
   wget http://robotics.ethz.ch/\~asl-datasets/iros_2017_voxblox/voxblox_cow_extras.zip

Port rosbags from ROS to ROS2:

pip install rosbags
rosbags-convert --src data.bag --dst data-ros2

Run container:

cd <path/to/voxfield_docker>
./docker/run_container.sh

Launch example inside container:

ros2 launch voxblox_ros lihra_voxfield.launch.py

OR

ros2 launch voxblox_ros cow_voxfield.launch.py

Dependencies compared to voxfield in ROS

Directory	Replacement/Notes
catkin_simple/	❌ dropped
eigen_catkin/	⭕ libeigen3-dev
eigen_checks/	✅ keep
gflags_catkin/	⭕ libgflags-dev
glog_catkin/	⭕ libgoogle-glog-dev
minkindr/	✅ keep
minkindr_ros/	❌ need port to ROS2
protobuf_catkin/	⭕ protobuf-compiler, libprotobuf-dev
voxfield/	❌ need port to ROS2

Acknowledgments

The Dockerfile and scripts in this repository are licensed under the Apache 2.0 License.

This project/container bundles code from voxfield, which is licensed under the BSD-3-Clause license. A copy of that license is included in this repository (see LICENSES/voxfield-license.txt).