Docker Environment for SLAM in Autonomous Driving Book (SAD Book)

Ubuntu 20.04 Docker Environment

# Clone the repository
git clone ssh://git@gitea.cuihang1201.synology.me:2222/hangpersonal/SLAM_Docker_Env.git

cd SLAM_Docker_Env

# Pull the Docker image
docker pull gitea.cuihang1201.synology.me/hangpersonal/sad-workspace:latest

# Start the Docker container
docker compose up -d

# Shutdown the Docker container
docker compose down

Access the Ubuntu 20.04 GUI Environment

# Open http://localhost:46080/vnc.html 
# in your web browser to connect to the Ubuntu 20.04 desktop 
# running inside the Docker container.

# Compile g2o
cd ~/workspace/slam_in_autonomous_driving/thirdparty/g2o/
mkdir build && cd build
cmake ..
make -j8 
make install
ldconfig

# Compile the source code
cd ~/workspace/slam_in_autonomous_driving
mkdir build && cd build
cmake ..
make -j8

Run Motion Demo

cd ~/workspace/slam_in_autonomous_driving
./bin/motion