ROS experiments

devistator.launch

<?xml version="1.0"?>

<launch>

  <node pkg="tf" type="static_transform_publisher" name="map_to_odom" args="0.0 0.0 0.0 0 0 0.0 /odom /base_link 10"/>

  <node pkg="tf" type="static_transform_publisher" name="base_frame_laser" args="0 0 0 0 0 0 /base_link /laser 10"/>


  <!--<node pkg="rviz" type="rviz" name="rviz" 
    args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.rviz"/>-->

  <include file="$(find hector_mapping)/launch/mapping_default.launch"/> 

  <node pkg="rviz" type="rviz" name="rviz" args="-d rviz_cfg.rviz"/>
  <include file="$(find hector_geotiff)/launch/geotiff_mapper.launch"/>
</launch>

docker-compose.yml

version: '2'

services:
  ros-master:
    image: wolfeidau/ydlidar:latest
    devices:
      - "/dev/ttyS0:/dev/ttyS0"
    command: stdbuf -o L roscore
    network_mode: "host"
    restart: always

Dockerfile

FROM ros:melodic-robot
RUN apt-get update && apt-get install vim curl -y
RUN mkdir -p /src/ydlidar/src
WORKDIR /src/ydlidar
RUN /bin/bash -c "source /opt/ros/melodic/setup.bash && catkin_make"
WORKDIR /src/ydlidar/src
RUN git clone https://github.com/EAIBOT/ydlidar.git
WORKDIR /src/ydlidar
RUN /bin/bash -c "source /opt/ros/melodic/setup.bash && catkin_make install && rospack profile"

# NOTE: This is customised for my serial setup which is not using USB
RUN sed -i 's:/dev/ydlidar:/dev/ttyS0:g' /src/ydlidar/src/ydlidar/launch/lidar.launch \
    && sed -i 's:115200:128000:g' /src/ydlidar/src/ydlidar/launch/lidar.launch

CMD /bin/bash -c "source /src/ydlidar/devel/setup.bash; roslaunch ydlidar lidar.launch"

Dockerfile.hector

FROM ros:melodic-robot
RUN apt-get update && apt-get install vim curl -y
RUN mkdir -p /src/hector/src
WORKDIR /src/hector
RUN /bin/bash -c "source /opt/ros/melodic/setup.bash && catkin_make"
WORKDIR /src/hector/src
RUN git clone https://github.com/tu-darmstadt-ros-pkg/hector_slam
WORKDIR /src/hector
RUN apt-get install libqt4-dev ros-melodic-cv-bridge ros-melodic-image-geometry ros-melodic-image-transport ros-melodic-laser-geometry -y
RUN /bin/bash -c "source /opt/ros/melodic/setup.bash && catkin_make install && rospack profile"

mapping_default.launch

<?xml version="1.0"?>

<launch>
  <arg name="tf_map_scanmatch_transform_frame_name" default="/scanmatcher_frame"/>
  <arg name="base_frame" default="base_link"/>
  <arg name="odom_frame" default="base_link"/>
  <arg name="pub_map_odom_transform" default="true"/>
  <arg name="scan_subscriber_queue_size" default="5"/>
  <arg name="scan_topic" default="scan"/>
  <arg name="map_size" default="2048"/>
  
  <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
    
    <!-- Frame names -->
    <param name="map_frame" value="map" />
    <param name="base_frame" value="$(arg base_frame)" />
    <param name="odom_frame" value="$(arg base_frame)" />
    
    <!-- Tf use -->
    <param name="use_tf_scan_transformation" value="true"/>
    <param name="use_tf_pose_start_estimate" value="false"/>
    <param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/>
    
    <!-- Map size / start point -->
    <param name="map_resolution" value="0.050"/>
    <param name="map_size" value="$(arg map_size)"/>
    <param name="map_start_x" value="0.5"/>
    <param name="map_start_y" value="0.5" />
    <param name="map_multi_res_levels" value="2" />
    
    <!-- Map update parameters -->
    <param name="update_factor_free" value="0.4"/>
    <param name="update_factor_occupied" value="0.7" />    
    <param name="map_update_distance_thresh" value="0.2"/>
    <param name="map_update_angle_thresh" value="0.9" />
    <param name="laser_z_min_value" value = "-1.0" />
    <param name="laser_z_max_value" value = "1.0" />
    
    <!-- Advertising config --> 
    <param name="advertise_map_service" value="true"/>
    
    <param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
    <param name="scan_topic" value="$(arg scan_topic)"/>
    
    <!-- Debug parameters -->
    <!--
      <param name="output_timing" value="false"/>
      <param name="pub_drawings" value="true"/>
      <param name="pub_debug_output" value="true"/>
    -->
    <param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />
  </node>
    
  <!--<node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 map nav 100"/>-->
</launch>