Livox2 && Fast Lio

Dockerfile

# docker build -t livox -f Dockerfile .
# rocker --x11 --nvidia --network host livox

# set host ip to 192.168.1.5
# assume Livox ip is 192.168.1.177

# inside container:
# ping 192.168.1.177
# vim /ws/src/livox_ros_driver2/config/MID360_config.json 
# screen -m bash -c '. /ws/devel/setup.sh && roslaunch /ws/src/livox_ros_driver2/launch_ROS1/msg_MID360.launch'
# . /ws/devel/setup.sh && . /ws/devel/setup.sh && roslaunch /ws/src/FAST_LIO/launch/mapping_avia.launch 


ARG ROS_DISTRO=melodic

FROM ros:$ROS_DISTRO-ros-core-bionic

RUN apt-get update && apt-get install -y \
      git build-essential ros-melodic-perception-pcl ros-melodic-rviz ros-melodic-eigen-conversions vim iputils-ping screen && \
    rm -rf /var/lib/apt/lists/*

RUN git clone https://github.com/Livox-SDK/Livox-SDK2.git && \
    mkdir -p ./Livox-SDK2/build && \
    cd ./Livox-SDK2/build && \
    cmake .. && make -j && make install
    
RUN . /opt/ros/melodic/setup.sh && \
    mkdir -p /ws/src && \ 
    cd /ws/src && \
    git clone https://github.com/Livox-SDK/livox_ros_driver2.git && \
    cd /ws/src/livox_ros_driver2 && ./build.sh ROS1

RUN . /opt/ros/melodic/setup.sh && \
    cd /ws/src && \
    git clone https://github.com/michalpelka/FAST_LIO.git -b livox_sdk2 && \
    cd FAST_LIO && git submodule init && git submodule update

RUN . /opt/ros/melodic/setup.sh && \
    cd /ws && catkin_make
    
RUN sed -i 's/192.168.1.12/192.168.1.177/g' /ws/src/livox_ros_driver2/config/MID360_config.json 

RUN echo ". /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc