Dockerfile && PGO CMake file && config files' bugs

FAST-LIO/config/avia.yaml

@@ -22,5 +22,5 @@ mapping:
 
 publish:     
     scan_publish_en:  true       # 'false' will close all the point cloud output
-    dense_publish_en: ture       # false will low down the points number in a global-frame point clouds scan.
+    dense_publish_en: true       # false will low down the points number in a global-frame point clouds scan.
     scan_bodyframe_pub_en: true  # output the point cloud scans in IMU-body-frame

FAST-LIO/config/horizon.yaml

@@ -22,5 +22,5 @@ mapping:
 
 publish:     
     scan_publish_en:  true       # 'false' will close all the point cloud output
-    dense_publish_en: ture       # false will low down the points number in a global-frame point clouds scan.
+    dense_publish_en: true       # false will low down the points number in a global-frame point clouds scan.
     scan_bodyframe_pub_en: true  # output the point cloud scans in IMU-body-frame

FAST-LIO/config/ouster64.yaml

@@ -22,5 +22,5 @@ mapping:
 
 publish:     
     scan_publish_en:  true       # 'false' will close all the point cloud output
-    dense_publish_en: ture       # false will low down the points number in a global-frame point clouds scan.
+    dense_publish_en: true       # false will low down the points number in a global-frame point clouds scan.
     scan_bodyframe_pub_en: true  # output the point cloud scans in IMU-body-frame

FAST-LIO/config/ouster64_mulran.yaml

@@ -22,5 +22,5 @@ mapping:
 
 publish:
     scan_publish_en:  true       # 'false' will close all the point cloud output
-    dense_publish_en: ture       # false will low down the points number in a global-frame point clouds scan.
+    dense_publish_en: true       # false will low down the points number in a global-frame point clouds scan.
     scan_bodyframe_pub_en: true  # output the point cloud scans in IMU-body-frame

FAST-LIO/config/velodyne.yaml

@@ -22,5 +22,5 @@ mapping:
 
 publish:     
     scan_publish_en:  true       # 'false' will close all the point cloud output
-    dense_publish_en: ture       # false will low down the points number in a global-frame point clouds scan.
+    dense_publish_en: true       # false will low down the points number in a global-frame point clouds scan.
     scan_bodyframe_pub_en: true  # output the point cloud scans in IMU-body-frame

FAST-LIO/config/velodyne16.yaml

@@ -24,5 +24,5 @@ mapping:
 
 publish:     
     scan_publish_en:  true       # 'false' will close all the point cloud output
-    dense_publish_en: ture       # false will low down the points number in a global-frame point clouds scan.
+    dense_publish_en: true       # false will low down the points number in a global-frame point clouds scan.
     scan_bodyframe_pub_en: true  # output the point cloud scans in IMU-body-frame

PGO/CMakeLists.txt

@@ -20,6 +20,7 @@ find_package(catkin REQUIRED COMPONENTS
 )
 
 #find_package(Eigen3 REQUIRED)
+find_package(Boost REQUIRED COMPONENTS timer)
 find_package(PCL REQUIRED)
 find_package(OpenCV REQUIRED)
 find_package(Ceres REQUIRED)

docker/Dockerfile

@@ -0,0 +1,45 @@
+FROM ros:melodic
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+  && apt-get install -y --no-install-recommends \
+  wget nano build-essential libomp-dev clang lld\
+  ros-melodic-geodesy ros-melodic-pcl-ros ros-melodic-nmea-msgs \
+  ros-melodic-rviz ros-melodic-tf-conversions ros-melodic-libg2o \
+  && apt-get clean \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN mkdir -p /root/catkin_ws/src
+WORKDIR /root/catkin_ws/
+#RUN /bin/bash -c '. /opt/ros/melodic/setup.bash; catkin_init_workspace'
+RUN apt-get update && apt-get install -y openssh-server
+RUN mkdir /var/run/sshd
+RUN echo 'root:password' | chpasswd
+RUN sed -i 's/#PermitRootLogin prohibit-password/PermitRootLogin yes/' /etc/ssh/sshd_config
+RUN echo 'PermitEmptyPasswords yes' >> /etc/ssh/sshd_config
+
+CMD ["/usr/sbin/sshd", "-D"]
+RUN apt-get update && apt-get install -y software-properties-common
+RUN add-apt-repository -y ppa:borglab/gtsam-release-4.0
+RUN apt-get install cmake
+RUN apt-get install libgoogle-glog-dev libgflags-dev -y
+RUN apt-get install libatlas-base-dev -y
+RUN apt-get install libeigen3-dev -y
+RUN apt-get install libsuitesparse-dev -y
+RUN apt install libceres-dev -y
+RUN apt update -y
+RUN apt install libgtsam-dev libgtsam-unstable-dev -y
+RUN apt install libboost-all-dev -y
+WORKDIR /root/catkin_ws/src/
+RUN git clone https://github.com/Fadimee/FAST_LIO_LC.git --recursive
+RUN apt install ros-melodic-eigen-conversions -y
+RUN apt install ros-melodic-cv-bridge -y
+
+#COPY . /root/catkin_ws/src/FAST_LIO_LC/
+
+WORKDIR /root/catkin_ws/
+RUN /bin/bash -c '. /opt/ros/melodic/setup.bash; catkin_make'
+RUN sed -i "6i source \"/root/catkin_ws/devel/setup.bash\"" /ros_entrypoint.sh
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+ENV DISPLAY=novnc:0.0
+CMD ["bash"]