更新容器运行环境

environment/README-usage.bash

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+## NOTE
+
+echo "执行：构建调试" \
+&& project_path="/media/nvidia/nvme0n1/server/repositories/repositories/SRI-SCOUT.SCOUT-cpp/environment/develop" \
+&& cd ${project_path} \
+&& sudo docker-compose --file compose.yml down \
+&& sudo docker-compose --file compose.yml up --detach --build \
+&& sudo docker exec -it devzw-scout bash
+
+echo "执行：停服调试" \
+&& project_path="/media/nvidia/nvme0n1/server/repositories/repositories/SRI-SCOUT.SCOUT-cpp/environment/develop" \
+&& cd ${project_path} \
+&& sudo docker-compose --file compose.yml down \
+&& sudo docker-compose --file compose.yml up --detach \
+&& sudo docker exec -it devzw-scout bash
+
+echo "执行：进入调试" \
+&& project_path="/media/nvidia/nvme0n1/server/repositories/repositories/SRI-SCOUT.SCOUT-cpp/environment/develop" \
+&& cd ${project_path} \
+&& sudo docker exec -it devzw-scout bash
+
+
+
+
+
+

environment/README.md

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+## NOTE
+
+#### 小车建图liosam需要的库
+
+* pcl 1.10.0
+* opencv 4.5.4
+* gtsam 4.0.0
+* boost 1.71.0
+
+#### 小车建图liosam需要的库
+
+* openmp
+* pcl
+* opencv
+* gtsam
+* boost
+
+#### 三维栅格地图
+
+* octomap
+
+#### 小车导航
+
+* move_base:ros-noetic-navigation

environment/develop/Dockerfile

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+# Ubuntu20.04
+FROM ros:noetic
+
+RUN apt-get update
+RUN apt-get install -y iputils-ping
+
+
+
+COPY ./setup.bash ./setup.bash
+RUN echo "source ./setup.bash" >> /root/.bashrc
+RUN echo "source /opt/ros/noetic/setup.bash" >> /root/.bashrc
+
+

environment/develop/compose.yml

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+version: '3.5'
+services:
+
+    devzw-scout:
+
+        # --- building ---
+        image: devzw-scout:2024
+        build:
+            context: ./
+            dockerfile: ./Dockerfile
+        environment:
+            TZ: Asia/Shanghai
+            LC_ALL: C.UTF-8
+            LANG: C.UTF-8
+
+        # --- binding ---
+        runtime: nvidia
+        ipc: host
+        shm_size: 8g  # 共享内存 默认64m
+        volumes:
+            - /media/nvidia/nvme0n1:/media/nvidia/nvme0n1
+            - /dev:/dev
+        network_mode: host
+
+        # --- running ---
+        container_name: devzw-scout
+        cap_add:
+            - SYS_ADMIN
+        privileged: true
+
+        # --- for debug ---
+        working_dir: /media/nvidia/nvme0n1
+        stdin_open: true
+        tty: true
+
+        # --- for release ---
+#        working_dir: /media/nvidia/nvme0n1/server/repositories/repositories/sri-project.demo-cpp
+#        command: bash run.sh
+#        restart: always
+

environment/develop/setup.bash

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+#!/bin/bash
+
+
+
+
+# 查看当前目录下的文件和文件夹磁盘占用情况
+alias showdiskinfo="du -sh * | sort -hr | head"

environment/release/Dockerfile

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+FROM ros:noetic
+
+RUN apt-get update
+RUN apt-get install -y iputils-ping
+
+
+
+COPY ./setup.bash ./setup.bash
+RUN echo "source ./setup.bash" >> /root/.bashrc
+RUN echo "source /opt/ros/noetic/setup.bash" >> /root/.bashrc
+
+

environment/release/compose.yml

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+version: '3.5'
+services:
+
+    devzw-scout:
+
+        # --- building ---
+        image: devzw-scout:2024
+        build:
+            context: ./
+            dockerfile: ./Dockerfile
+        environment:
+            TZ: Asia/Shanghai
+            LC_ALL: C.UTF-8
+            LANG: C.UTF-8
+
+        # --- binding ---
+        runtime: nvidia
+        ipc: host
+        shm_size: 8g  # 共享内存 默认64m
+        volumes:
+            - /media/nvidia/nvme0n1:/media/nvidia/nvme0n1
+            - /dev:/dev
+        network_mode: host
+
+        # --- running ---
+        container_name: devzw-scout
+        cap_add:
+            - SYS_ADMIN
+        privileged: true
+
+        # --- for debug ---
+        working_dir: /media/nvidia/nvme0n1
+        stdin_open: true
+        tty: true
+
+        # --- for release ---
+#        working_dir: /media/nvidia/nvme0n1/server/repositories/repositories/sri-project.demo-cpp
+#        command: bash run.sh
+#        restart: always
+

environment/release/setup.bash

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+#!/bin/bash
+
+
+
+
+# 查看当前目录下的文件和文件夹磁盘占用情况
+alias showdiskinfo="du -sh * | sort -hr | head"