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🚀 Run vS-Graphs using Docker

✅ I. Set Up NVIDIA Container Toolkit (Ubuntu)

You might need to install Nvidia's container toolkit to

# Detect your Ubuntu distribution
distribution=$(. /etc/os-release;echo $ID$VERSION_ID)

# Add the NVIDIA GPG key
curl -s -L https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg

# Add the NVIDIA container repository
curl -s -L https://nvidia.github.io/libnvidia-container/$distribution/nvidia-container-toolkit.list | sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list

# Install the toolkit
sudo apt update
sudo apt install -y nvidia-container-toolkit

# Configure the Docker runtime (inside docker folder)
sudo nvidia-ctk runtime configure --runtime=docker

# Restart Docker
sudo systemctl restart docker

⚙️ II. Build

You can build the Docker image using the command docker compose build. Otherwise, and if you want to manually build the Docker image, run the following command within this directory:

docker build --ssh default -t vsgraphs -f Noetic.Dockerfile .

🛎️ Tip: Please note that your Github authentication keys might be named differently depending on the encryption algorithm. If above does not work, try replacing id_rsa with id_ed25519, in the above command.

🚀 III. Run

III-A. Run the Docker Image

Use one of the below options:

# [Option I] using Docker Compose
docker compose up -d

# [Option II] manual Docker image run
docker run -it -d --privileged --name vsgraphs_ros2 -e DISPLAY=$DISPLAY -e XAUTHORITY=$XAUTHORITY -v /tmp/.X11-unix:/tmp/.X11-unix -v $XAUTHORITY:$XAUTHORITY vsgraphs_ros2

# [Option III] using devcontainers
# in `VSCode`, select "Reopen in Container"

🛎️ Tip: If you use Docker Compose, make sure to properly configure Working Directories (maps your project folder from the host to the container to ensure code and configuration changes persist) and Data Directories (mount the folder containing your datasets (e.g., ROS bags) so they are accessible and runnable inside the container).

III-B. Run the Container

docker exec -it vsgraphs_ros2 bash

# Inside the container
ros2 launch vs_graphs rgbd.launch.py

You can even use the mprocs tool provided inside the Docker image, by simply running mprocs (an alias for mprocs -c [path]/visual_sgraphs/config/mprocs.yml) and choose the prepared command sets there.