Merge pull request weisongwen#18 from weisongwen/test_docker

Add docker support by Zhong Yihan

README.md

@@ -1,25 +1,24 @@
 # GraphGNSSLib
 ### An Open-source Package for GNSS Positioning and Real-time Kinematic Using Factor Graph Optimization
 
-This repository is the implementation of the open-sourced package, the GraphGNSSLib, which makes use of the factor graph optimization (FGO) to perform the postprocessing of GNSS positioning and real-time kinematic (RTK) positioning. In this package, measurements from the historical and current epochs are structured into a factor graph which is then solved by non-linear optimization. The package is based on C++ which is compatible with the robot operation system (ROS) platform. Meanwhile, this package combines the RTKLIB (**[version: 2.4.3 b33](http://www.rtklib.com/)**) to read/decode the GNSS [RINEX](https://en.wikipedia.org/wiki/RINEX) files. Users from Robotics field can easily have access to GNSS raw data for further study. We are still improving the code readibility with the hope that this package can benefit the research community.
+This repository is the implementation of the open-sourced package, the GraphGNSSLib, which makes use of the factor graph optimization (FGO) to perform the GNSS positioning and real-time kinematic (RTK) positioning. In this package, measurements from the historical and current epochs are structured into a factor graph which is then solved by non-linear optimization. The package is based on C++ which is compatible with the robot operation system (ROS) platform. Meanwhile, this package combines the RTKLIB (**[version: 2.4.3 b33](http://www.rtklib.com/)**) to read/decode the GNSS [RINEX](https://en.wikipedia.org/wiki/RINEX) files. Users from Robotics field can easily have access to GNSS raw data for further study.
 
 **Important Notes**: 
   - Be noted that the **GNSS Positioning** mentioned throughout the package means estimating the positioing of the GNSS receiver based on the combination of pseudorange and Doppler measurements uisng FGO.
-  - Be noted that the **GNSS-RTK Positioning** mentioned throughout the package means estimating the positioing (float solution) of the GNSS receiver based on the combination of double-differenced pseudorange, carrier-phase and the Doppler measurements using FGO. Finally, the ambiguity is resolved using LAMBDA algorithm via epoch-by-epoch manner.
-  - An very interesting article illustrating the advantage and potential of the FGO in GNSS positioning, see [**What is a factor graph?**](https://insidegnss.com/q-what-is-a-factor-graph/).
+  - Be noted that the **GNSS-RTK Positioning** mentioned throughout the package means estimating the positioing (float solution) of the GNSS receiver based on the combination of double-differenced pseudorange, carrier-phase and the Doppler measurements using FGO. Finally, the ambiguity is resolved using LAMBDA algorithm.
 
 **Authors**: [Weisong Wen](https://weisongwen.wixsite.com/weisongwen), [Li-ta Hsu](https://www.polyu-ipn-lab.com/) from the [Intelligent Positioning and Navigation Laboratory](https://www.polyu-ipn-lab.com/), The Hong Kong Polytechnic University
 
 **Related Papers:** (paper is not exactly same with code)
-  - Wen Weisong., Hsu, Li-Ta.* **Towards Robust GNSS Positioning and Real-Time Kinematic Using Factor Graph Optimization**, *ICRA 2021*, Xi'an, China. ([**Paper Link in arXiv**](https://arxiv.org/ftp/arxiv/papers/2106/2106.01594.pdf)) ([**Paper Link in IEEE**](https://ieeexplore.ieee.org/document/9562037)) ([**Video Link**](https://www.youtube.com/watch?v=rSrXFFv9PGs&t=312s)) (**Accepted**)
+  - Wen Weisong., Hsu, Li-Ta.* (2020) **GraphGNSSLib: An Open-source Package for GNSS Positioning and Real-time Kinematic Using Factor Graph Optimization**, GPS Solutions. (**Submitted**)
 
-*if you use GraphGNSSLib for your academic research, please cite our related [papers](https://arxiv.org/ftp/arxiv/papers/2106/2106.01594.pdf)*
+*if you use GraphGNSSLib for your academic research, please cite our related [papers](https://www.polyu-ipn-lab.com/)*
 
 <p align="center">
   <img width="712pix" src="img/software_flowchart.png">
 </p>
 
-<center> Software flowchart of GraphGNSSLib, more information please refer to our paper.</center>
+<center> Software flowchart of GraphGNSSLib, more information please refer to mannual and paper.</center>
 
 ## 0. Docker support
 If you are not familiar with ROS, we highly recommend using our docker container to enjoy GraphGNSSLib. 
@@ -74,10 +73,15 @@ catkin_make
 (**if you fail in this step, try to find another computer with clean system or reinstall Ubuntu and ROS**)
 
 ## 3. Run GNSS positioning via FGO using dataset [UrbanNav](https://www.polyu-ipn-lab.com/download)   
-The GNSS positioning via FGO is validated using dynamic dataset collected near TST of Hong Kong. Several parameters are as follows:
+The GNSS positioning via FGO is validated using static dataset collected near TST of Hong Kong. Several parameters are as follows:
   - GPS second span: **46701** to **47185**
   - satellite system: **GPS/BeiDou**
-  - measurements considered: pseudorange and Doppler measurements
+  - Window Size: **Batch**
+  - measurements considered: double-differenced pseudorange and carrier-phase measurements, Doppler measurements
+  - result is saved by default
+    ```c++
+    ~/GraphGNSSLib/trajectory_psr_dop_fusion.csv
+    ```
 
 please enable the following in rtklib.h
 ```bash
@@ -102,7 +106,12 @@ please enable the following in rtklib.h
 The GNSS RTK-FGO is validated using static dataset collected near TST of Hong Kong. Several parameters are as follows:
   - GPS second span: **270149** to **270306**
   - satellite system: **GPS/BeiDou**
+  - Window Size: **Batch**
   - measurements considered: double-differenced pseudorange and carrier-phase measurements, Doppler measurements
+  - result is saved by default
+    ```c++
+    ~/GraphGNSSLib/FGO_trajectoryllh_pdrtk.csv
+    ```
 
 please enable the following in rtklib.h
 ```bash
@@ -122,8 +131,36 @@ please enable the following in rtklib.h
 <center> Trajectories of three methods (RTK-EKF with the red dots and RTK-FGO with the blue dots throughout the test. The x-axis and y-axis denote the east and north directions, respectively.</center>
 
 
-## 5. Acknowledgements
-We use [Ceres-solver](http://ceres-solver.org/) for non-linear optimization and [RTKLIB](http://www.rtklib.com/) for GNSS data decoding, etc. Some functions are originated from [VINS-mono](https://github.com/HKUST-Aerial-Robotics/VINS-Mono). The [rviz_satellite](https://github.com/nobleo/rviz_satellite) is used for visualization. We appreciate the help and discussion from [Tim Pfeifer](https://www.tu-chemnitz.de/etit/proaut/en/team/timPfeifer.html) which inspired me to finish this work. If there is any thing inappropriate, please contact me through [email protected] ([Weisong WEN](https://weisongwen.wixsite.com/weisongwen)).
+## 5. Docker Support
+
+ To run GraphGNSSLib with docker, first make sure  [docker](https://docs.docker.com/install/linux/docker-ce/ubuntu/) are installed on your machine. If you want to use the docker to run the global_fusion:
+```bash
+
+cd ~/catkin_ws/src/GraphGNSSLib/docker
+make build
+sudo -E ./start.bash #Do not delete " -E "
+source devel/setup.bash
+# run pseudorange and doppler fusion
+roslaunch global_fusion psr_doppler_fusion.launch
+# you should open another ternimal to enter the docker.
+# read GNSS raw data and publish as ROS topic
+roslaunch global_fusion dataublox_TST20190428.launch
+```
+
+  Also, there is a [video](https://www.youtube.com/watch?v=WMM2de_SxTw) showing the demo after you have built the docker_file in the directory GraphGNSSLib/docker
+
+  If you want to restart the container, please stop it first:
+  ```bash
+sudo ./stop.bash
+#then restart it
+sudo -E ./start.bash 
+```
+ The directory  ~/shared_dir is created to connect the container and the host . In the container, it is located at  ~/graph1/shared_dir, you can also download the code to shared_dir and compile the program in the container (Recommended for those who are interested in making changes to the source code)
+
+
+
+## 6. Acknowledgements
+We use [Ceres-solver](http://ceres-solver.org/) for non-linear optimization and [RTKLIB](http://www.rtklib.com/) for GNSS data decoding, etc. Some functions are originated from [VINS-mono](https://github.com/HKUST-Aerial-Robotics/VINS-Mono). The [rviz_satellite](https://github.com/nobleo/rviz_satellite) is used for visualization. If there is any thing inappropriate, please contact me through [email protected] ([Weisong WEN](https://weisongwen.wixsite.com/weisongwen)).
 
-## 6. License
+## 7. License
 The source code is released under [GPLv3](http://www.gnu.org/licenses/) license. We are still working on improving the code reliability. For any technical issues, please contact Weisong Wen <[email protected]>. For commercial inquiries, please contact Li-ta Hsu <[email protected]>.

docker/Dockerfile

@@ -0,0 +1,46 @@
+FROM ros:kinetic-perception
+
+ENV CERES_VERSION="1.12.0"
+ENV CATKIN_WS=/root/catkin_ws
+
+      # set up thread number for building
+RUN   if [ "x$(nproc)" = "x1" ] ; then export USE_PROC=1 ; \
+      else export USE_PROC=$(($(nproc)/2)) ; fi && \
+      apt-get update && apt-get install -y \
+      cmake \
+      libatlas-base-dev \
+      libeigen3-dev \
+      libgoogle-glog-dev \
+      libogre-1.9-dev\
+      libsuitesparse-dev \
+      python-catkin-tools \
+      ros-${ROS_DISTRO}-desktop-full \
+      ros-${ROS_DISTRO}-novatel-msgs \
+      ros-${ROS_DISTRO}-tf && \
+      rm -rf /var/lib/apt/lists/* && \
+      # Build and install Ceres
+      git clone https://ceres-solver.googlesource.com/ceres-solver && \
+      cd ceres-solver && \
+      git checkout tags/${CERES_VERSION} && \
+      mkdir build && cd build && \
+      cmake .. && \
+      make -j$(USE_PROC) install && \
+      rm -rf ../../ceres-solver && \
+      mkdir -p $CATKIN_WS/src/GraphGNSSLib/
+
+# Copy GraphGNSSLib
+COPY ./ $CATKIN_WS/src/GraphGNSSLib/
+# use the following line if you only have this dockerfile
+# RUN git clone https://github.com/HKUST-Aerial-Robotics/GraphGNSSLib.git
+
+# Build GraphGNSSLib
+WORKDIR $CATKIN_WS
+ENV TERM xterm
+ENV PYTHONIOENCODING UTF-8
+RUN catkin config \
+      --extend /opt/ros/$ROS_DISTRO \
+      --cmake-args \
+        -DCMAKE_BUILD_TYPE=Release && \
+    catkin build && \
+    sed -i '/exec "$@"/i \
+            source "/root/catkin_ws/devel/setup.bash"' /ros_entrypoint.sh

docker/Makefile

@@ -0,0 +1,16 @@
+all: help
+
+help:
+	@echo ""
+	@echo "-- Help Menu"
+	@echo ""
+	@echo "   1. make build              - build all images"
+	# @echo "   1. make pull             - pull all images"
+	@echo "   1. make clean              - remove all images"
+	@echo ""
+
+build:
+	@docker build --tag ros:GraphGNSSLib -f ./Dockerfile ..
+
+clean:
+	@docker rmi -f ros:GraphGNSSLib

docker/run.sh

@@ -0,0 +1,61 @@
+#!/bin/bash
+trap : SIGTERM SIGINT
+
+function abspath() {
+    # generate absolute path from relative path
+    # $1     : relative filename
+    # return : absolute path
+    if [ -d "$1" ]; then
+        # dir
+        (cd "$1"; pwd)
+    elif [ -f "$1" ]; then
+        # file
+        if [[ $1 = /* ]]; then
+            echo "$1"
+        elif [[ $1 == */* ]]; then
+            echo "$(cd "${1%/*}"; pwd)/${1##*/}"
+        else
+            echo "$(pwd)/$1"
+        fi
+    fi
+}
+
+if [ "$#" -ne 1 ]; then
+  echo "Usage: $0 LAUNCH_FILE" >&2
+  exit 1
+fi
+
+roscore &
+ROSCORE_PID=$!
+sleep 1
+
+# rviz -d ../config/vins_rviz_config.rviz &
+# RVIZ_PID=$!
+
+GraphGNSSLib_DIR=$(abspath "..")
+
+docker run \
+  -it \
+  --rm \
+  --net=host \
+  -v ${GraphGNSSLib_DIR}:/root/catkin_ws/src/GraphGNSSLib/ \
+  ros:GraphGNSSLib \
+  /bin/bash -c \
+  "cd /root/catkin_ws/; \
+  catkin config \
+        --env-cache \
+        --extend /opt/ros/$ROS_DISTRO \
+       --cmake-args \
+         -DCMAKE_BUILD_TYPE=Release; \
+     catkin build; \
+     source devel/setup.bash; \
+     roslaunch global_fusion ${1}"
+
+wait $ROSCORE_PID
+# wait $RVIZ_PID
+
+if [[ $? -gt 128 ]]
+then
+    kill $ROSCORE_PID
+    # kill $RVIZ_PID
+fi

docker/start.bash

@@ -0,0 +1,19 @@
+#!/bin/bash
+docker container ls -a -f name=graph1 | grep graph1$ > /dev/null
+
+if [ $? == 0 ]
+then
+	docker container start graph1
+	docker exec -it graph1 /bin/bash
+
+else
+	xhost +
+	SHARED_DOCKER_DIR=/root/graph1/shared_dir
+	SHARED_HOST_DIR=$HOME/shared_dir
+	if [ ! -d "$SHARED_HOST_DIR" ];then
+	    mkdir $SHARED_HOST_DIR
+	fi
+	#docker run --gpus all -it -v /home/hrz/project/ros/melodic/LvisamTest:/root/LvisamTest  -v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=unix$DISPLAY -e GDK_SCALE -e GDK_DPI_SCALE -e ROS_MASTER_URI=http://172.17.0.2:8899 -e ROS_HOSTNAME=172.17.0.2 --cpus 0.5 --cpuset-cpus=2 --name melodic melodic-gpu /bin/bash 
+	docker run -it   -v /tmp/.X11-unix:/tmp/.X11-unix -v $SHARED_HOST_DIR:$SHARED_DOCKER_DIR  -e DISPLAY=unix$DISPLAY -e GDK_SCALE -e GDK_DPI_SCALE -e ROS_MASTER_URI=http://172.17.0.2:11311 -e ROS_HOSTNAME=172.17.0.2 --name graph1 ros:GraphGNSSLib /bin/bash 
+	sudo chmod 777 $SHARED_HOST_DIR
+fi

docker/stop.bash

@@ -0,0 +1,3 @@
+#!/bin/bash
+docker container stop graph1
+docker container rm graph1