x86 ubuntu20.04 ros:noetic-perception-focal 镜像测试

https://hub.docker.com/_/ros/tags?page=&page_size=&ordering=&name=noetic

1. 启动容器：

docker pull ros:noetic-perception-focal
docker run -it --env DISPLAY=$DISPLAY --net=host --volume /tmp/.X11-unix:/tmp/.X11-unix --privileged --gpus all --volume /home/h/docker_workspace:/workspace --workdir /workspace --name ros-noetic ros:noetic-perception-focal  /bin/bash

2. ceres-solver

cd
apt update
apt-get install liblapack-dev libsuitesparse-dev libgflags-dev libgoogle-glog-dev libgtest-dev libcxsparse3 -y
 
apt-get install wget
wget ceres-solver.org/ceres-solver-1.14.0.tar.gz
tar -zxvf ceres-solver-1.14.0.tar.gz
rm ceres-solver-1.14.0.tar.gz
cd ceres-solver-1.14.0 && mkdir build && cd build
cmake ..
make install -j4

3. 安装 jetson ncnn：

https://github.com/Tencent/ncnn/wiki/how-to-build#nvidia-jetson

cd
apt-get install git
git clone https://github.com/Tencent/ncnn.git
cd ncnn && mkdir build && cd build
git submodule update --init
cmake  ..
make -j12
make install # ncnn 的文件都安装在 build 下的 install 里面
 
# 验证
cd ../examples
../build/examples/squeezenet ../images/256-ncnn.png
# 得到输出
532 = 0.165951
920 = 0.094098
716 = 0.062193

3. 安装 rviz, rosbag

apt update
apt install ros-noetic-rviz
apt install ros-noetic-rosbag
source /opt/ros/noetic/setup.bash

apt install vim
vim ~/.bashrc
source /opt/ros/noetic/setup.bash # 加入
 
source ~/.bashrc

4. 测试 vins_fusion_letnet_20.04

cd /workspace/vins_fusion_letnet_20.04_ws/
catkin_make -j20

source devel/setup.bash
roslaunch vins vins_rviz.launch
rosrun vins vins_node /workspace/vins_fusion_ws/src/VINS-Fusion/config/custom/sky_mono_imu_config_240314-4.yaml 
rosbag play /workspace/datasets/Q20/sky/240314/mav0.bag  -s 20

然后就可以 commit 该容器，然后 save 到本地，迁移到别的主机上面。