Docker For gnssFGO

This is a dockerfile example based on ROS2 humble for using gnssFGO and adapted mapviz.

How to build

1. clone the repository
2. cd gnssFGO/docker
3. run following

docker build -t irt/gnssfgo .

OR download the docker image

If you don't want to build you can download the example docker image here:

docker pull haomingac/gnssfgo:latest

Run with docker compose

If you have docker compose installed, you can run it with compose.yaml. Most of settings in compose.yaml are for visualization.

1. clone the repository
2. cd gnssFGO/docker
3. build docker image. If you have built it, skip this step.
4. If you do not use Nvidia GPU, remove deploy part (Line 18-23) in compose.yaml.
5. run following to start the container

docker compose up -d

6. You can access the container interactively:

docker exec -it gnssfgo bash

If you got error on '' Authorization required, but no authorization protocol specified'', then start a terminal and run

xhost +