Multiple small fixes and add docker rviz support

docker/Dockerfile

@@ -5,7 +5,7 @@ FROM osrf/ros:melodic-desktop-bionic
 ENV CATKIN_WS=/root/covins_ws
 
 # fix keys see (https://github.com/googlecartographer/cartographer_ros/issues/1323)
-RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key 4B63CF8FDE49746E98FA01DDAD19BAB3CBF125EA
 RUN apt-key del 421C365BD9FF1F717815A3895523BAEEB01FA116
 
 # install ros packages

docker/run.sh

@@ -86,8 +86,9 @@ ROS_CLIENT=0
 CLIENT=0
 ROS_CORE=0
 FRONTEND_WRAPPER=0
+RVIZ=0
 
-while getopts "hsforct" opt; do
+while getopts "hsforcvt" opt; do
     case "$opt" in
         h)
             echoUsage
@@ -103,6 +104,8 @@ while getopts "hsforct" opt; do
             ;;
         c)  ROS_CORE=1
             ;;
+        v)  RVIZ=1
+            ;;
         t)  ;;
         *)
             echoUsage
@@ -143,6 +146,8 @@ elif [ $ROS_CLIENT -eq 1 ]; then
 elif [ $FRONTEND_WRAPPER -eq 1 ]; then
         CONFIG_FILE_COMM=$(absPath ${*: -2:1})
         LAUNCH_FILE=$(absPath ${*: -1})
+        echo ${CONFIG_FILE_COMM};
+        echo ${LAUNCH_FILE};
         docker run \
         -it \
         --rm \
@@ -183,6 +188,24 @@ elif [ $ROS_CORE -eq 1 ]; then
         /bin/bash -c \
                 "cd ${CATKIN_WS}; \
                  roscore"
+elif [ $RVIZ -eq 1 ]; then
+        docker run \
+        -it \
+        --privileged \
+        --rm \
+        --net=host \
+        --env DISPLAY=${DISPLAY} \
+        --env QT_X11_NO_MITSHM=1 \
+        --env XAUTHORITY=/tmp/.docker.xauth \
+        --env ROS_IP=${ROS_IP} \
+        --env ROS_MASTER_URI=${ROS_MASTER_URI} \
+        --volume /tmp/.X11-unix:/tmp/.X11-unix:rw \
+        --volume /tmp/.docker.xauth:/tmp/.docker.xauth \
+        covins \
+        /bin/bash -c \
+                 "source devel/setup.bash; \
+                 roslaunch src/covins/covins_backend/launch/tf.launch &
+                 rviz -d /root/covins_ws/src/covins/covins_backend/config/covins.rviz"
 else
         docker run \
         -it \

docker/setup.sh

@@ -0,0 +1,17 @@
+#!/bin/bash
+
+function setup_xauth() {
+  local XAUTH=/tmp/.docker.xauth
+
+  if [ ! -f $XAUTH ]; then
+    xauth_list=$(xauth nlist :0 | sed -e 's/^..../ffff/')
+    if [ -n "$xauth_list" ]; then
+      echo "$xauth_list" | xauth -f $XAUTH nmerge -
+    else
+      touch $XAUTH
+    fi
+    chmod a+r $XAUTH
+  fi
+}
+
+setup_xauth

readme.md

@@ -236,15 +236,29 @@ The convins server back-end needs a running roscore, how to start one see above.
 
 #### ORB-SLAM3 Front-End
 The ORB-SLAM3 front-end client needs the communication server config file, the file which should be executed, and the path to the dataset. The dataset has to be given seperately since the file system of the docker container differs from the host system. Hence, the `pathDatasetEuroc` variable in the run script gets adapted automatically inside the docker container.
-* ```./run.sh -o ../covins_comm/config/config_comm.yaml ../orb_slam3/covins_examples/euroc_examples_mh1 <dataset_path, e.g. /home/pschmuck/data/euroc>```
+* ```./run.sh -o ../covins_comm/config/config_comm.yaml ../orb_slam3/covins_examples/euroc_examples_mh1.sh <dataset_path, e.g. /home/pschmuck/data/euroc>```
 
 #### ORB-SLAM3 ROS Front-End
 The ROS wrapper of the ORB-SLAM3 front-end can also be started in the docker container. It requires the server config file and the ROS launch file. A bag file can then for example be played on the host system.
 * ```./run.sh -r ../covins_comm/config/config_comm.yaml ../orb_slam3/Examples/ROS/ORB_SLAM3/launch/launch_docker_ros_euroc.launch```
 
 #### ROS Front-End Wrapper (Only for COVINS-G)
 The ROS Front-end wrapper can also be started in the docker container. It requires the server config file and the ROS launch file. A bag file can then for example be played on the host system.
-* ```./run.sh -f ../covins_comm/config/config_comm.yaml ../covins_frontend/launch/covins_frontend/launch/vins_docker_euroc_agent.launch```
+* ```./run.sh -f ../covins_comm/config/config_comm.yaml ../covins_frontend/launch/vins_docker_euroc_agent.launch```
+
+#### Run rviz
+A terminal within the docker image can also be opened. This can for example be used to send `rosservice` commands.
+
+In one terminal:
+* ```./run.sh -t```
+* ```export ROS_IP=public_IP_of_!SERVER!```
+* ```roslaunch src/covins/covins_backend/launch/tf.launch```
+
+In another terminal:
+* ```./setup.sh```
+* ```export ROS_IP=public_IP_of_!SERVER!```
+* ```export ROS_MASTER_URI=http://IP_of_the_!SERVER!:11311```
+* ```./run.sh -v```
 
 #### Terminal
 A terminal within the docker image can also be opened. This can for example be used to send `rosservice` commands.