ros-fast-livo

This repository uses Github Actions, i.e. Github's continuous integration and continuous delivery (CI/CD) platform, to automatically build and deliver Docker images for a popular ROS package.

The Docker image offers a convenient way to run nodes and launch files of the ROS package without having to compile it on a local computer and having to worry about its dependencies such as specific library or OS versions.

FAST-LIVO

This repository creates a Docker image with ROSblox's FAST-LIVO ROS package, which is a fork with no/minor modifications in comparison to its parent repository, HKU-Mars-Lab's FAST-LIVO . Checkout the repository's README.md for more information about this ROS package.

Prerequisites to running the Docker image

Install docker

Install the Docker engine, https://docs.docker.com/get-docker/.

Login to Github's container registry

docker login ghcr.io

Clone this repository

git clone https://github.com/rosblox/ros-fast-livo.git

Running the ROS package

Start the container

cd ./ros-fast-livo
./run.sh

Note, the Docker image is pulled automatically once, if it hasn't been pulled yet.

Start the ROS package

Inside the container, start ROS package by executing

run

Note, the run command is an alias defined in the ~/.bashrc to launch the ROS package's launch file.

Additional info

This section details the workflow with a ROS package in a Docker image. Basic knowledge about Docker images, containers and the container registry is beneficial.

Update your (local) Docker image

This repository's automatically built Docker image is uploaded to Github's Container Registry (ghcr.io). Newer versions of the Docker image can be pulled by running

docker pull ghcr.io/rosblox/ros-fast-livo:noetic

Update the ROS package in the (automatically built) Docker image

To include updates of the ROS package's parent repository, HKU-Mars-Lab's FAST-LIVO , in the automatically built Docker images, please create a Pull Request to ROSblox's FAST-LIVO fork with the changes.

Build Docker image locally

For convenience, there is a build.sh script located at the root of the repository. Run

./build.sh

to build the Docker image on your local computer, e.g. when you made changes to the Dockerfile.

Build ROS package inside a Docker container

The run.sh script mounts this repository's submodule folders into the created container when executed. Inside the container, the ROS packages can be compiled by running

build

The build command is an alias defined in the ~/.bashrc to execute catkin_make.Note, this will compile the ROS package including changes of its source code.

Acknowledgements

This repository solely automates the building and delivery of a Docker image for a popular ROS package. All credit for the content of the ROS package goes to the original authors of the ROS package. Thank you for open sourcing your code!

Contact

The Docker image of this ROS package is built as part of the ROSbloX project.

Website: ROSbloX
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