Particle Filter Docker

A standalone docker to use right away with sensor and zed cameras.

Getting Started

1. Setup the particle filter for that house: Follow the instructions in the particle_filter_mesh repository to configure the particle filter for your specific house environment. particle_filter_mesh repository

2. Extract and Update Camera Positions: Extract the position of the cameras in the environment and update the yaml file in the config folder file in the aptags_tf_broadcast package. aptags_tf_broadcast repository

3. Build the Docker Image: build the docker with updated particle_filter_mesh and aptags_tf_broadcaster packages

   cd particle_filter_docker
   docker build -t docker_username/pf_docker:tag -f Dockerfile.txt 
   

Replace <docker_username> with your Docker Hub username. Replace with a descriptive tag reflecting the changes.

3. Update Docker Compose Configuration: Edit the docker-compose.yaml file to include the name and tag used during the Docker build.

NOTE: Ensure the Dockerfile.txt clones the repositories containing your updates to particle_filter_mesh and aptags_tf_broadcaster.

Prerequisities

Ensure the following are installed before running this container:

Docker:Linux

Docker Compose

Usage

The package includes a docker-compose.yaml

docker-compose up

you can also follow this gist to have the docker start at the starting of the system. https://gist.github.com/mosquito/b23e1c1e5723a7fd9e6568e5cf91180f

Environment Variables

• ROS_IP - A Description
• ROS_DOMAIN_ID - Domain id of the ROS2

Volumes

• /launch_pf.bash - The required launch file to