1. docker image

docker pull yechanpark5714/inference_ros2:latest

2. docker container

nvidia-docker run --privileged -it \
           -e NVIDIA_DRIVER_CAPABILITIES=all \
           -e NVIDIA_VISIBLE_DEVICES=all \
           --volume= *******your ws**********(ex. /data/ROS2_hdl_localization:/home/inference_ros2) \ 
           --volume=/tmp/.X11-unix:/tmp/.X11-unix:rw \
           --net=host \
           --ipc=host \
           --shm-size=2gb \
           --name=inference_ros2 \ 
           --env="DISPLAY=$DISPLAY" \
           yechanpark5714/inference_ros2:latest

3. package tree

catkin_ws
    ├── src
    ├── ndt_omp
    ├── hdl_localization
    ├── hdl_global_localization
    ├── fast_gicp
    ├── Segmentation_code
    ├── visualization
        ├── CMakeLists.txt
        ├── package.xml
        ├── README.md
        ├── src
            ├── local_visualization.cpp
            ├── global_visualization.cpp

4. result

5. manual

you need 5 terminal windows

docker start inference_ros2
docker exec -it inference_ros2 /bin/bash

default setting :

source /opt/ros/foxy/setup.bash
source /home/ROS2_hdl_localization/install/setup.bash

(1) run local_visulization

ros2 run visualization local_visualization

(2) Segmentation

cd /home/ROS2_hdl_localization/src/Segmentation_code
python3 RunSegNode.py 

(3) launch hdl localization

ros2 launch hdl_localization hdl_localization_2.launch.py

(4) rviz

cd /home/ROS2_hdl_localization/src/visualization
rviz2 -d visualization.rviz

(5) bag play

cd /home/ROS2_hdl_localization
ros2 bag play 2022-09-19-10-00-32