jetson_svo_docker

A Docker image for the SVO Pro (visual inertial odomotery/SLAM) package, for Nvidia Jetson boards.

This is tested on Jetson Xavier NX with Jetpack 4.4 [L4T 32.4.3]

Setup

Hardware

• It's recommended to use Xavier NX with SSD drive for best performance. Check this video to see how to use Xavier NX image from the SSD drive

Docker Default Runtime

To enable access to the CUDA compiler (nvcc) during docker build operations, add "default-runtime": "nvidia" to your /etc/docker/daemon.json configuration file before attempting to build the containers:

{
    "runtimes": {
        "nvidia": {
            "path": "nvidia-container-runtime",
            "runtimeArgs": []
        }
    },

    "default-runtime": "nvidia"
}

You will then want to restart the Docker service or reboot your system before proceeding.

Building the docker image

• In Jetson, open a terminal , and execute the following commands

  # Create a directory to clone this package into
  mkdir -p $HOME/src && cd $HOME/src/
  # Clone this package
  git clone https://github.com/mzahana/jetson_svo_docker.git

• Build the mzahana:jetson_svo Docker image

  cd $HOME/src/jetson_svo_docker
  ./scripts/setup_jetson.sh

  You may need to provide passowrd for sudo when asked

• Once the image is built, you can verify that by listing Docker images docker images. You should see mzahana:jetson_svo availble in the listed images

• An alias will be added in the ~/.bashrc for convenience. The alias is called svo_container. You can simply run the SVO container by executing svo_container in a terminal window

• Once the container is running, an interactive terminal inside the container can be used.

NOTE The docker image includes installations of Realsense SDK and realsense-ros in case the D435i cameras is to be used with VINS. Make sure to download the installRealSenseROS package on the Jetson board, and run the disableAutosuspend.sh to turn off the USB autosuspend setting on the Jetson so that the camera is always available. Then reboot for the changes to take effect.

Using SVO with cameras

Description will be added soon.