Container Structure

If you run the docker_run.sh script there are a few directories in your new containers that are created by default:

\work: Contains a catkin workspace for each algorithm (except for ORB-SLAM 3 which uses rosbuild instead) as well as some dependencies' source code.

\cam: Contains the camera's libraries (librealsense) and ROS wrapper. Configurations and .yaml files for calibrating the camera and running each algorithm.

\calib: Calibration tools (Kalibr and IMUutils)

\data: Datasets (need to be installed) and output of files. Using an external HDD (USB 3.0+) is recommended due to large files.

\scripts: Scripts to automate installation and setting up environments.

\viz: Configuration files for RVIZ.

\evo: Evaluations tools (evo) and scripts.