ubuntu20.04+ros+docker+xsens IMU+Hsesai

docker常用命令：Docker常用命令-CSDN博客

docker pull ubuntu:20.04
xhost +
docker run -it  ubuntu:20.04 /bin/bash

sudo docker run --platform linux/amd64/v8 -it -v /home/zhong/amd_v8:/data --device=/dev/dri --group-add video --volume=/tmp/.X11-unix:/tmp/.X11-unix  --env="DISPLAY=$DISPLAY" --env="QT_X11_NO_MITSHM=1" --name=test  mysql /bin/bash

安装Python3

apt update
apt install -y pkg-config
apt install -y wget
apt install -y gcc
apt install -y vim
apt install -y make

wget https://www.python.org/ftp/python/3.9.12/Python-3.9.12.tar.xz
docker cp ./Python-3.9.12.tar.xz f5d3f2b62974:/
tar -xf Python-3.9.12.tar.xz
cd Python-3.9.12
./configure --enable-optimizations --prefix=/usr/local/mypython3912
make
make install

ln -s /usr/local/mypython3912/bin/python3.9 /usr/bin/python3
#为 pip 设置软链接
ln -s /usr/local/mypython3912/bin/pip3.9 /usr/bin/pip3

安装ros

小鱼儿一键安装：

wget http://fishros.com/install -O fishros && . fishros
apt-get update
apt install tmux
tmux
roscore    /    rviz

小海龟测试命令：

roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key

创建ros工作区间

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws/
catkin_make
echo "source ~/catkin_ws/devel/setup.sh" >> ~/.bashrc

资源网站

前端SLAM算法https://github.com/hku-mars/FAST_LIO
hesai激光雷达的ROS驱动：https://github.com/HesaiTechnology/HesaiLidar_General_ROS
xsens IMU的ROS驱动：https://wiki.ros.org/xsens_mti_driver
背包的QT-GUI程序：U盘拷贝

docker cp /home/zhong/projects/fastlio2_ws/src/FAST_LIO 7e91d79c228e:/root/catkin_ws/src
docker cp /home/zhong/HesaiLidar_General_ROS-master 7e91d79c228e:/root/catkin_ws/src
docker cp /home/zhong/MT_Software_Suite_linux-x64_2022.0_b7085_r119802 7e91d79c228e:/root/catkin_ws/src

备份：
docker commit -a "zhong" -m "ubuntu20.04" 7e91d79c228e ubuntu20.04:1.0
docker commit -a="用户名" -m="描述" 容器id或名字  打包后的镜像的名字:版本号

编译FAST_LIO

报错：

    livox_ros_driverConfig.cmake
    livox_ros_driver-config.cmake

git clone https://github.com/Livox-SDK/Livox-SDK.git
git clone https://github.com/Livox-SDK/livox_ros_driver.git ws_livox/src
docker cp /home/zhong/Livox-SDK 7e91d79c228e:/root/catkin_ws/src
docker cp /home/zhong/ws_livox 7e91d79c228e:/root/catkin_ws/src

git clone https://github.com/Livox-SDK/Livox-SDK.git
cd Livox-SDK
cd build && cmake ..
make
sudo make install
cd ws_livox
catkin_make
source ./devel/setup.sh

FAST_LIO测试：

roslaunch livox_ros_driver livox_lidar_rviz.launch

备份：

docker commit -a "zhong" -m "ubuntu20.04" 7e91d79c228e ubuntu20.04_FAST_LIO:2.0

HesaiLidar配置教程:

安装依赖：

apt install libpcap-dev libyaml-cpp-dev
cd catkin_ws/src
git clone https://github.com/HesaiTechnology/HesaiLidar_General_ROS.git --recursive
cd ..
catkin_make -DCMAKE_BUILD_TYPE=Release

xsens IMU配置教程:

安装依赖：

apt-get install sharutils
cd MT_Software_Suite_linux-x86_2022.0
bash mfmsdk_linux-x86_2022.0.sh #需要回车默认位置安装
bash mtsdk_linux-x86_2022.0.sh #需要回车默认位置安装

编译ros功能包

cd $your_package$
pushd src/xsens_ros_mti_driver/lib/xspublic && make && popd
catkin_make

编译运行：

chmod 777 /dev/ttyUSB0
source devel/setup.bash
roslaunch xsens_mti_driver display.launch

sudo lsusb -v | grep GoPro

查看序列号：sudo lsusb -v | grep GoPro -A5 -B5

USB 连接的套接字地址为 172.2X.1YZ.51：8080，其中：

• X 是相机序列号的 100 位数字
• Y 是相机序列号的 10 位数字
• Z 是相机序列号中 1 的数字

可以通过以下任一方式获取相机的序列号：

• 读取相机电池外壳内的贴纸
• 相机 UI：首选项>>关于>>相机信息
• 低功耗蓝牙：直接从硬件信息中读取

例如，如果相机的序列号为 C0000123456789，则 USB 连接的 IP 地址将为 172.27.1 89.51。

或者，当摄像机注册 _gopro-web 服务时，可以通过 mDNS 发现 IP 地址。

初始化相机命令：

curl http://172.26.153.51:8080/gopro/camera/control/wired_usb?p=1

curl http://172.26.153.51:8080/gopro/camera/presets/set_group

开始拍照：

wget http://172.23.198.51:8080/gopro/camera/shutter/start

clearImg:

QString("sh %1launch/clear.sh").arg(QString::fromStdString(ROOT_DIR)) + " " + serialNumber;

downloadImg:

QString comm = QString("sh %1launch/download.sh").arg(QString::fromStdString(ROOT_DIR)) + " " + imgPath + " " + serialNumber + " " + folder_name;

sudo docker run -it --privileged --net=host --ipc=bridge --ipc=host --pid=host --name docker_name -v /dev/bus/usb:/dev/bus/usb -v /workspace:/workspace image_name /bin/bash