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[드론] unilidar + pointlio 세팅완료개발 로그/바코드 드론 2023. 11. 4. 19:14
ros2 + lio-sam을 쓰고싶어서 계속 시도해봤는데, 결국 그냥 유니트리가 만든 pointlio 쓰기로 했다.
하루종일 lio-sam 세팅했던게 무색하게 도커에 pointlio 깔자마자 바로 매핑이 되었다.
이제 오프보드컨트롤을 해봐야겠다.
실행 명령어
xhost +si:localuser:root docker run -it -e DISPLAY --device=/dev/ttyUSB0 --privileged -v /docker_folder:/docker_folder -v /dev:/dev -v /tmp/.X11-unix:/tmp/.X11-unix --network=host soar:2.0
unilidar, pointlio 실행 명령어
# run unilidar cd unilidar_sdk/unitree_lidar_ros source devel/setup.bash roslaunch unitree_lidar_ros run_without_rviz.launch
# run pointlio cd catkin_point_lio_unilidar source devel/setup.bash roslaunch point_lio_unilidar mapping_unilidar.launch
도커파일
FROM osrf/ros:noetic-desktop-full-focal RUN apt-get update \ && apt-get install -y curl \ && curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - \ && apt-get update \ && apt install -y python3-rosdep \ && apt install -y python3-rosinstall \ && apt install -y python3-rosinstall-generator \ && apt install -y python3-wstool \ && apt install -y build-essential RUN apt-get install ros-noetic-pcl-conversions RUN apt-get install libeigen3-dev RUN apt-get install -y vim \ && apt-get install -y git \ && apt-get install -y python3-pip \ && apt-get install -y nautilus \ && apt-get install -y ros-noetic-catkin \ && apt-get install -y python3-catkin-tools RUN rm -rf /var/lib/apt/lists/* RUN echo "source /opt/ros/noetic/setup.bash" >> /root/.bashrc SHELL ["/bin/bash", "-c"] WORKDIR /root RUN git clone https://github.com/unitreerobotics/unilidar_sdk.git WORKDIR /root/unilidar_sdk/unitree_lidar_ros RUN source /opt/ros/noetic/setup.bash \ && catkin_make WORKDIR /root RUN mkdir -p ~/catkin_point_lio_unilidar/src WORKDIR /root/catkin_point_lio_unilidar/src RUN git clone https://github.com/unitreerobotics/point_lio_unilidar.git WORKDIR /root/catkin_point_lio_unilidar RUN source /opt/ros/noetic/setup.bash \ && catkin_make WORKDIR /root
빌드 명령어
docker build -t soar:2.0 .
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