Docker only

Please check the origin one for official

Option 1: build by yourself

docker build -t zhangkin/voxblox_ros -f Dockerfile .

Option 2: pull directly

建议内地同学直接pull 不然catkin build里有很多3dparty 可能没法clone下来

docker pull zhangkin/voxblox_ros

docker run => container

Please put your bag file in the /home/kin/bags or replace the path in your home, here is my folder

kin@kin-ubuntu:~/bags$ tree -L 1
.
├── cow_eth_data
│   ├── data.bag
│   ├── voxblox_cow_extras
│   └── voxblox_cow_extras.zip

docker run -it --net=host --gpus all --name voxblox_ros -v /home/kin/bags:/home/kin/bags zhangkin/voxblox_ros /bin/zsh 

RUN

after the link folder, you can directly build and run the launch

cd ~/catkin_ws/src/voxblox && git pull origin master
cd ~/catkin_ws && catkin build voxblox_ros && source devel/setup.zsh
roslaunch voxblox_ros cow_and_lady_dataset.launch

Save the mesh result and save location can be mofitied from the launch :

<param name="mesh_filename" value="/home/kin/bag/$(anon cow).ply" />

rosservice call /voxblox_node/save_map

Result example screenshot(use meshlab/rviz):