Fork from https://github.com/sair-lab/AirSLAM
- 克隆代码到本地:
mkdir -p /home/h/docker_workspace/airslam_ws/src
cd /home/h/docker_workspace/airslam_ws/src
git clone https://github.com/xukuanhit/AirSLAM.git
mkdir AirSLAM/debugdocker pull xukuanhit/air_slam:v4 docker run -it --env DISPLAY=$DISPLAY --volume /tmp/.X11-unix:/tmp/.X11-unix --privileged --gpus all --volume /home/h/docker_workspace:/workspace --workdir /workspace --name air_slam_v4 xukuanhit/air_slam:v4 /bin/bash cd airslam_ws/ catkin_make source devel/setup.bash
略,见代码
roslaunch air_slam vo_euroc_ros.launc rosbag play ../datasets/euroc/MH_01_easy.bag
1: Change "map_root" in MR launch file to your own map path.
2: Run the launch file:
roslaunch air_slam mr_euroc.launch