Datasets:

standard-cognition
/

Tracks

A containerized ROS2 development environment with GUI support and NVIDIA GPU acceleration. This Docker setup provides an isolated workspace for ROS2 development while maintaining seamless integration with your host filesystem.

Features

ROS2 Distribution: Default humble (configurable)
GUI Support: X11 forwarding for ROS2 GUI applications
GPU Support: NVIDIA GPU acceleration (when available)
Workspace Mounting: Host ws/ directory mounted with full permissions
User Permissions: Runs with matching host user/group IDs
Sample Movie: video

Prerequisites

Docker: Install following Docker Engine installation guide
Post-install Setup: Configure Docker for non-root usage
NVIDIA Runtime (optional): For GPU support, install nvidia-container-toolkit

Quick Start

Clone and navigate to repository

git clone git@github.com:Standard-Cognition/keypoint-db.git
cd keypoint_db

Build the container
```
make
```
Run container
```
./run_container.sh
```
Join from another terminal (optional)
```
./join_container.sh
```

ROS2 Development Workflow

Inside the container (/home/user/ws):

Install dependencies (first time only):

sudo apt-get update
rosdep update
rosdep install -i --from-path src --rosdistro ${ROS_DISTRO} -y

Build workspace:

./compile_and_source.sh

Run rviz with a layout:

ros2 launch db_loader layout_visualization_launch.py json_file:=/home/user/ws/data/research.sc.s2016.json

Outside of the container download the track csv file

download from: https://drive.google.com/file/d/1sf924lEBK2VLuBmHUzGXUakn6blwY9r2/view?usp=sharing
cp chunk_1971-03-29T03_20_00Z_1971-03-29T03_25_00Z.csv YOUR_FOLDER/Tracks/keypoint-db/ws/data/

Join from another terminal

./join_container.sh

Run the keypoint_publisher:

ros2 run db_loader keypoint_publisher data/chunk_1971-03-29T03_20_00Z_1971-03-29T03_25_00Z.csv

From a 3rd terminal window, join the container

./join_container.sh

Run the keypoint_publisher:

ros2 run  db_loader keypoint_subscriber

Project Structure

dataset_ros2_container/
├── Dockerfile              # Container image definition
├── Makefile                # Build automation
├── docker-compose.yml      # Docker Compose configuration
├── .env                    # Environment variables
├── utils                   # Shared shell utilities
├── run_container.sh        # Start container script
├── join_container.sh       # Join running container script
├── ws/                     # ROS2 workspace (mounted)
│   ├── src/               # Your ROS2 packages
│   ├── build/             # Build artifacts
│   ├── install/           # Installation directory
│   └── log/               # Build logs
└── README.md              # This file

Configuration

Environment Variables

ROS2_DISTRO: ROS2 distribution (default: from .env file)
IMAGE_NAME: Docker image name (default: ros2_devel)
APT_MIRROR: APT mirror location (default: jp)
DOCKER_BUILD_OPTS: Additional Docker build options

Container Features

X11 Forwarding: Automatic GUI application support
NVIDIA GPU: Auto-detected and enabled when available
Network: Host networking for ROS2 communication
Workspace Persistence: ws/ directory changes persist on host

Troubleshooting

GPU not detected:

Ensure NVIDIA drivers are installed on host
Install nvidia-container-toolkit
Verify with nvidia-smi command

Permission issues:

Container runs with host user/group IDs automatically
Ensure Docker post-install steps completed

GUI applications not working:

Verify X11 forwarding: echo $DISPLAY
Check XAUTH permissions in container

Build failures:

Use --no-cache build option
Update base images with --pull=true

Contributing

Fork the repository
Create feature branch: git checkout -b feature-name
Commit changes: git commit -am 'Add feature'
Push branch: git push origin feature-name
Submit pull request

License

See LICENSE file for details.