docker_orb_slam3_ros

The docker environment for ORB-SLAM3 with ROS.

Environment

OS

• Ubuntu

Mount

• bagfiles
  • Source: ~/bagfiles
  • Destination: /home/user/bagfiles
• x11
  • Source: /tmp/.X11-unix
  • Destination: /tmp/.X11-unix

Setup

make setup
make build

Usage

Run

docker compose up -d
docker compose exec ws <command (e.g. bash, tmux)>

Execute ORB-SLAM3 (in the container)

roslauch orb_slam3_ros ~.launch

Stop

docker compose down