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Modify README.md. Add Quickstart(Run with Docker) #19

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74 changes: 73 additions & 1 deletion README.md
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Expand Up @@ -57,7 +57,79 @@ Topics:
+ imu topic: /camera/imu


## 3. Quick Start(Run with Docker)
### 3.1. Build Docker Image
make Dockerfile like below.
```c
FROM ros:melodic-ros-core-bionic

# apt-get update
RUN apt-get update

# install essentials
RUN apt install -y gcc
RUN apt install -y g++
RUN apt-get install -y cmake
RUN apt-get install -y wget
RUN apt install -y git

# install ceres
WORKDIR /home
RUN apt-get install -y libgoogle-glog-dev libgflags-dev
RUN apt-get install -y libatlas-base-dev
RUN apt-get install -y libeigen3-dev
RUN apt-get install -y libsuitesparse-dev
RUN wget http://ceres-solver.org/ceres-solver-2.1.0.tar.gz
RUN tar zxf ceres-solver-2.1.0.tar.gz
WORKDIR /home/ceres-solver-2.1.0
RUN mkdir build
WORKDIR /home/ceres-solver-2.1.0/build
RUN cmake ..
RUN make
RUN make install

# install sophus
WORKDIR /home
RUN git clone https://github.com/demul/Sophus.git
WORKDIR /home/Sophus
RUN git checkout fix/unit_complex_eror
RUN mkdir build
WORKDIR /home/Sophus/build
RUN cmake ..
RUN make
RUN make install

# install ros dependencies
WORKDIR /home
RUN mkdir ros_ws
WORKDIR /home/ros_ws
RUN apt-get -y install ros-melodic-cv-bridge
RUN apt-get -y install ros-melodic-nodelet
RUN apt-get -y install ros-melodic-tf
RUN apt-get -y install ros-melodic-image-transport
RUN apt-get -y install ros-melodic-rviz
RUN apt-get -y install ros-melodic-pcl-ros

# build vins-rgbd
RUN mkdir src
WORKDIR /home/ros_ws/src
RUN git clone https://github.com/STAR-Center/VINS-RGBD
WORKDIR /home/ros_ws
RUN /bin/bash -c ". /opt/ros/melodic/setup.bash; cd /home/ros_ws; catkin_make"
RUN echo "source /home/ros_ws/devel/setup.bash" >> ~/.bashrc
```
docker build --tag vins_rgbd:1.0 .

### 3.2. Run Docker Container with X11
docker run -it --name vins_rgbd -v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=$DISPLAY -p 9999:9999 -p 9999:9999 vins_rgbd:1.0

### 3.3. Launch VINS-RGBD inside Container
#### 3.3.1. Terminal-1
roslaunch vins_estimator realsense_color.launch
#### 3.3.2. Terminal-2
roslaunch vins_estimator vins_rviz.launch
#### 3.3.2. Terminal-3
rosbag play some_demo_data

## 3. Licence
## 4. Licence
The source code is released under [GPLv3](http://www.gnu.org/licenses/) license.