basestation_commands

MAPPING: 

docker run -it --rm --name wp2_hloc -e ROS_IP=192.168.1.10 --env ROS_MASTER_URI=http://ari-15c:11311 --network=host --gpus all -v /var/run/docker.sock:/var/run/docker.sock -v /home/erm/hloc_cache/:/root/catkin_ws/src/ari_hloc/pipelines/MeshroomCache registry.gitlab.inria.fr/spring/dockers/wp2_hloc:calibrated hloc_localization_mode:=false cache_folder:=/home/erm/hloc_cache/ mapping_front_fisheye_topic:=/front_fisheye_basestation/image_raw/compressed mapping_rear_fisheye_topic:=/rear_fisheye_basestation/image_raw/compressed  
docker exec -it wp2_hloc bash -c 'source activate meshroom; source /root/catkin_ws/devel/setup.bash;rosservice call /stop_capture '


LOCALIZATION: 

docker run -it --rm --name wp2_hloc -e ROS_IP=192.168.1.10 --env ROS_MASTER_URI=http://ari-15c:11311 --network=host --gpus all -v /home/erm/hloc_cache/:/root/catkin_ws/src/ari_hloc/pipelines/MeshroomCache -v /home/erm/tmp/hloc_initializer.py:/root/catkin_ws/src/ari_hloc/scripts/hloc_initializer.py registry.gitlab.inria.fr/spring/dockers/wp2_hloc:calibrated cache_folder:=/home/erm/hloc_cache/ localization_camera:=front num_pairs_matching:=50 localization_front_fisheye_topic:=/front_fisheye_basestation/image_raw/compressed localization_rear_fisheye_topic:=/rear_fisheye_basestation/image_raw/compressed time_ok_max:=10 time_warn_max:=20 movement_threshold:=0.1

docker run -it --rm --name wp2_hloc -e ROS_IP=192.168.1.163 --env ROS_MASTER_URI=http://ari-15c:11311 --network=host --gpus all -v /home/hloc_mapping/hloc_cache/:/root/catkin_ws/src/ari_hloc/pipelines/MeshroomCache registry.gitlab.inria.fr/spring/dockers/wp2_hloc:calibrated cache_folder:=/home/hloc_mapping/hloc_cache/ localization_camera:=front num_pairs_matching:=50 localization_front_fisheye_topic:=/front_fisheye_basestation/image_raw/compressed localization_rear_fisheye_topic:=/rear_fisheye_basestation/image_raw/compressed time_ok_max:=10 time_warn_max:=20