docker

Chain-SLAM — Docker environment

A reproducible ROS1 (Noetic, Ubuntu 20.04) environment for building and running Chain-SLAM. The image bakes in the system dependencies and GTSAM; the workspace and Open3D are built once inside the container.

Prerequisites

• Docker
• An X server on the host (for rviz). Optional NVIDIA GPU passthrough is enabled automatically when the NVIDIA Container Toolkit is installed.

Files

File	Where it runs	Purpose
Dockerfile	host	Builds the image: apt deps + GTSAM 4.0.3 from source.
run.sh	host	Creates/re-enters the chainslam_ros1 container with GUI + mounts.
build_ws.sh	container	Clones livox_ros_driver and builds the catkin workspace.
install_open3d.sh	container	Builds Open3D 0.15.1 (C++) from source with the libstdc++ ABI.

Quick start

# 1. Build the image (from the repo root)
docker build -t chainslam_ros1:latest docker/

# 2. Create & enter the container (re-run later to re-enter)
./docker/run.sh

# --- inside the container ---

# 3. Build Open3D from source (once)
./docker/install_open3d.sh

# 4. Build the catkin workspace
./docker/build_ws.sh

# 5. Source the overlay and run (see the top-level README for the pipeline)
source devel/setup.bash

Notes

• The repo is bind-mounted at the same path inside the container as on the host, so paths in launch files and the pipeline resolve identically.
• run.sh also mounts /home, /mnt, and /media for access to rosbags and output directories.
• GTSAM is pinned to 4.0.3 and Open3D to 0.15.1 — the versions that compile cleanly on this Noetic/GCC 9 image (see comments in install_open3d.sh).