Docker images

Prebuilt docker images

We provide the following docker images for ROS1 and ROS2 environments on docker hub.

Note

ROS2 sometimes requires additional configurations for communication on docker. See https://github.com/eProsima/Fast-DDS/issues/2956. Do not ask us about how to use ROS2 with docker.

Note

Currently, we provide only AMD64 images. ARM64 support is planned in the future.

Example use

With GPU

# Copy config and edit as you want
git clone git@github.com:koide3/glim /tmp/glim
cp -R /tmp/glim/config ./config

# Pull image from docker hub
docker pull koide3/glim_ros2:humble_cuda12.2

# Launch glim_ros2:humble_cuda12.2 image with GPU and DISPLAY support
docker run \
  -it \
  --rm \
  --net=host \
  --ipc=host \
  --pid=host \
  --gpus all \
  -e=DISPLAY \
  -e=ROS_DOMAIN_ID \
  -v $(realpath config):/glim/config \
  koide3/glim_ros2:humble_cuda12.2 \
  ros2 run glim_ros glim_rosnode --ros-args -p config_path:=/glim/config

Without GPU

# Copy config and edit it
git clone git@github.com:koide3/glim /tmp/glim
cp -R /tmp/glim/config ./config

# Change as follows:
# "config_odometry" : "config_odometry_cpu.json"
# "config_sub_mapping" : "config_sub_mapping_cpu.json"
# "config_global_mapping" : "config_global_mapping_cpu.json"
nano config/config.json

# Pull image from docker hub
docker pull koide3/glim_ros2:humble

# Launch glim_ros2:humble image with DISPLAY support
docker run \
  -it \
  --rm \
  --net=host \
  --ipc=host \
  --pid=host \
  --gpus all \
  -e=DISPLAY \
  -e=ROS_DOMAIN_ID \
  -v $(realpath config):/glim/config \
  koide3/glim_ros2:humble \
  ros2 run glim_ros glim_rosnode --ros-args -p config_path:=/glim/config

Build docker images from source

mkdir /tmp/glim_docker && cd /tmp/glim_docker
git clone git@github.com:koide3/glim
git clone git@github.com:koide3/glim_ros2

# Without GPU
docker build \
  -f glim_ros2/docker/Dockerfile.gcc \
  --build-arg="BASE_IMAGE=koide3/gtsam_points:jammy" \
  --build-arg="ROS_DISTRO=humble" \
  --tag glim_ros2:humble \
  .

# With GPU
docker build \
  -f glim_ros2/docker/Dockerfile.gcc.cuda \
  --build-arg="BASE_IMAGE=koide3/gtsam_points:jammy_cuda12.2" \
  --build-arg="ROS_DISTRO=humble" \
  --tag glim_ros2:humble_cuda12.2 \
  .