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Added development container for replicability #1
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Added development container for replicability #1
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Thank you for your contribution and for sharing your Docker-Devcontainer integration. As for your problems: We use the SemanticKITTI-dataset (http://www.semantic-kitti.org) which consists of the KITTI Odometry Benchmark Velodyne point clouds along with calibration data and the SemanticKitti-labels. You can find the download links here: http://www.semantic-kitti.org/dataset.html#download Thank you for expanding the Readme. Just a small thing: The explicit starting of the roscore is not necessary, it is automatically started by the roslaunch command. Additionally, you seem to have applied a global reformatting on all files. Please refrain from a global reformatting like this since it leads to conflicts with other forks/branches. |
Thanks for the clarification. I will attempt to follow the suggested steps to replay datasets. I have not used ROS 1 much recently, mostly relying on ROS 2 development, so was not aware that roscore is executed during roslaunch. Thanks for the clarification. I will undo the folder structure to it's original layout as per your recommendation, leaving just DevContainer and README changes, and removing optional packages from RViz config for repeatability, to simplify PR review. |
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Hi @Nussknacker I addressed your comments by only introducing changes that do not affect functional components of the code, but improve the quality of life for further development of code refinement. Could you please attempt to setup Devcontainer yourself and see if it works for you? The container will pull graphics drivers from your base system if you have The container offers several advantages over conventional development:
I did not have much time to run the code due to being extremely busy at work recently, but will do so when I find some free time most likely during weekends. |
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thanks again for the effort you put into this. I had another look at the improved Readme file. It generally looks better now, but I found two small issues: |
@Nussknacker I addressed your considerations in the latest commits. Apologies for taking so long |
…ng on the host :1
thanks again for your work. I tested the updated version of the Dockerfile, but unfortunately, I can not get it to run anymore. The container immediately terminates after launching. This seems to be related to the newly defined entrypoint, which overwrites the /ros_entrypoint.sh script. If I remove the entrypoint, then it works again. Is this new entrypoint necessary? |
@Nussknacker You are right, the ENTRYPOINT line is not needed, because $DISPLAY can be loaded when executing docker run - fixed |
now it runs well again :) For people familiar with ROS, most of these steps won't be necessary because they already have set up a ROS workspace. For this reason, I did not put this description in the Readme. |
Hi, I would like to check performance of your code.
I was able to make it build by wrapping it in Dev container in VSCode and using Dockerfile to pull necessary build dependencies.
I reorganised the folder to follow ROS formatting guidelines.
I have experienced two problems along the way, and I cannot seem to fix them:
In groundgrid.rviz there are several plugins that I am not sure where to get from, so I had to comment some lines:
and
# - Class: autonomos/KeyboardTool
Another problem is Kitti dataset data loader. I found the dataset format I downloaded from https://www.cvlibs.net/datasets/kitti/raw_data.php is not matching the expected data format you have in
kitt_data_publisher.py
. Could you point me out to the dataset you used?The devcontainer I set up also pulls NVidia graphics installed on the host machine (requires Nvidia Docker setup), which will allow graphics acceleration of RViz. If this is troublesome, can comment out these lines:
An example of devcontainer:
Made some improvements to the documentation formatting in README.md
Setup the Docker such that the
groundgrid
folder should be placed in~/workspace
folder in the host machine, allowing reading data that is stored in the same folder from the development container within Docker.Formatted each source file using LLVM style with 4 space indent width - see
.clang-format