安装并配置Nvblox ROS1

• 下载Nvblox ROS1

mkdir -p ~/nvblox_ros1_ws/src/
mkdir  ~/data
cd ~/nvblox_ros1_ws/src/
git clone https://github.com/ethz-asl/nvblox_ros1.git
cd nvblox_ros1
git submodule update --init --recursive

• 安装Docker

for pkg in docker.io docker-doc docker-compose docker-compose-v2 podman-docker containerd runc; do sudo apt-get remove $pkg; done

# Add Docker's official GPG key:
sudo apt-get update
sudo apt-get install ca-certificates curl gnupg
sudo install -m 0755 -d /etc/apt/keyrings
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg
sudo chmod a+r /etc/apt/keyrings/docker.gpg# Add the repository to Apt sources:
echo \"deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu \$(. /etc/os-release && echo "$VERSION_CODENAME") stable" | \sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
sudo apt-get update

sudo apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin

sudo docker run hello-world

sudo usermod -aG docker $USER

sudo reboot

• 构建Docker镜像

cd ~/nvblox_ros1_ws/src/nvblox_ros1/docker
bash run_docker.sh -b -w /home/$USER/nvblox_ros1_ws

• 在Docker容器内构建ROS工作空间

注意： 这些操作应当在Docker的nvblox容器中进行。

docker exec -it nvblox bash

cd ~/nvblox_ws/
catkin init
catkin config --extend /opt/ros/noetic 
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
catkin build
echo "source ~/nvblox_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

测试

• 下载测试数据包

cd ~/data/
wget http://robotics.ethz.ch/~asl-datasets/2023_nvblox_datasets/panopt/run1.bag

• 启动nvblox docker容器

cd nvblox_ros1/docker
./run_docker.sh

注意： 以下操作应当在Docker的nvblox容器中进行。

docker exec -it nvblox bash

• 运行nvblox_ros节点

# Terminal 1 in docker
roslaunch nvblox_ros nvblox_ros_panopt.launch rviz:=true

• 回放测试数据包

# Terminal 2 in docker
rosbag play --clock ~/data/run1.bag

TroubleShooting

CUDA

Occurred on x86_64 Ubuntu20.04 RTX4070Ti

 Error string: CUDA driver version is insufficient for CUDA runtime version.
[nvblox_node-3] process has died [pid 6628, exit code 99, cmd /root/nvblox_ws/devel/lib/nvblox_ros/nvblox_node depth/image:=/data/depth_image depth/camera_info:=/data/depth_image/camera_info color/image:=/data/color_image color/camera_info:=/data/color_image/camera_info __name:=nvblox_node __log:=/root/.ros/log/25507420-a6c3-11ee-8137-70a8d35674a3/nvblox_node-3.log].
log file: /root/.ros/log/25507420-a6c3-11ee-8137-70a8d35674a3/nvblox_node-3*.log

sudo apt update
sudo apt install nvidia-driver-535

docker

删除所有容器

docker rm -f $(docker ps -a -q)

删除所有镜像

docker rmi -f $(docker images -q)

删除所有未使用的镜像

docker image prune -a

删除所有未使用的数据

docker system prune