Merge branch 'ros2' of https://github.com/Taeyoung96/FAST_LIO_ROS2 in…

…to ros2

README.md

@@ -3,16 +3,138 @@
 > Modifier: Taeyoung Kim
 
 ## What's New?  
-- Add save trajectory function  
+- Dockerize
+- Step-by-step tutorial
+- Add save trajectory function
+- Add save map function without service callback
+
+## Results
+I currently only experiment after converting the ros2 bag format from the M2DGR dataset.  
+
+           
+https://github.com/Taeyoung96/FAST_LIO_ROS2/assets/41863759/27393bf1-740b-4347-ba8f-4c2170e50e11
+
+
+
+<p align="center"><img src="https://github.com/Taeyoung96/FAST_LIO_ROS2/assets/41863759/c797fb90-8a10-47b2-af8e-f5bc87e3cc89" width = "500" ></p>  
+<p align="center">< FAST-LIO2-ros2 trajectory result in Gate 01 sequence ></p>  
 
 
 ## How to use
+**I recommend utilizing docker to easily configure your environment setting.**  
+
+### Requirements 
+- [Docker](https://www.docker.com/)  
+- [NVIDIA docker](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html)
 
 ```
 git clone --recursive https://github.com/Taeyoung96/FAST_LIO_ROS2.git
 ```
 
+### Make a docker image (For the docker user) 
+```
+cd docker
+```
+```
+docker build -t fast-lio-ros2:latest .
+```
+
+### Environment setting  
+- ROS2 humble
+- PCL
+- Eigen
+- [Livox-SDK2](https://github.com/Livox-SDK/Livox-SDK2)
+
+### Make a docker container  
+
+When you create a docker container, you need several options to use the GUI and share folders.
+
+First, you should enter the command below in the local terminal to enable docker to communicate with Xserver on the host.
+
+```
+xhost +local:docker
+```
+
+After that, make your own container with the command below.  
+
+```
+sudo chmod -R 777 container_run.sh
+```
+```
+./container_run.sh <container_name> <image_name:tag>
+```
+
+:warning: **You should change {container_name}, {docker image} to suit your environment.**  
+
+For example,  
+```
+ ./container_run.sh fast-lio-ros2 fast-lio-ros2:latest
+```
+In my case, I also shared an additional `/data` folder to run the ROS2 bag files.  
+
+If you have successfully created the docker container, the terminal output will be similar to the below.  
+
+**output** :  
+
+```
+Current working directory: /home/taeyoung/Desktop/FAST_LIO_ROS2
+================FAST-LIO ROS2 Docker Env Ready================
+root@taeyoung-cilab:~/ros2_ws#
+```
+
+### Build and Run the launch file
+
+Within Docker, we need 2 containers.  
+To access the same container, use the command below
+```
+docker exec -it fast-lio-ros2 /bin/bash
+```  
+Within the connected container,
+```
+source /opt/ros/humble/setup.bash
+```
+
+**This is an example for running M2DGR dataset.**
+You need to use [rosbags](https://pypi.org/project/rosbags/) to change the ros1 bagfile to a ros2 bagfile already.  
+
+```
+root@taeyoung-cilab:~/ros2_ws# 
+```
+
+All should stay on the above path.
+
+- **1st container** (For build fast_lio and livox_ros_driver2 package) 
+```
+cd src/livox_ros_driver2/
+``` 
+```
+./build.sh humble
+```
+This process only needs to be done once, after connecting to the container.  
+For all subsequent builds, simply proceed to `colcon build` on `ros2_ws`.
+
+
+
+For launch fast_lio ros2 version for M2DGR.  
+```
+ros2 launch fast_lio mapping_m2dgr.launch.py
+```
+
+- **2nd container** (For ros2 bag play) 
+```
+ros2 bag play gate_01
+```
+
+
+## Convert ROS1 bag to ROS2 bag  
+
+- Use [rosbags](https://pypi.org/project/rosbags/) in docker container.  
 
-## 6.Acknowledgments
+## TODO  
+- [ ] Test with more bag files.  
+- [ ] Troubleshoot mapping speed issues
 
-Thanks for LOAM(J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time), [Livox_Mapping](https://github.com/Livox-SDK/livox_mapping), [LINS](https://github.com/ChaoqinRobotics/LINS---LiDAR-inertial-SLAM) and [Loam_Livox](https://github.com/hku-mars/loam_livox).
+## Acknowledgments
+Thanks to [FAST-LIO](https://github.com/hku-mars/FAST_LIO) for sharing their awesome research.  
+Thanks also to [Ericsii](https://github.com/Ericsii/FAST_LIO) for providing the ros2 branch.  
+I follow the license of each repository.