Making Docker setup more user friendly, gtsam version update

[sarika93]

Summary of changes

• Updating GTSAM version in rosinstall files to use the latest stable version 4.2.
  • Why? On the GTSAM develop branch, API-breaking changes are being introduced as they move towards version 4.3. The means the current rosinstall files produce a number of GTSAM-related build issues.
• Moving Docker-related files into a docker folder
• Updating the Dockerfile to:
  • include xvfb as it is needed for Rviz to work properly with Docker,
  • download a EuRoC bag file for demo purposes
  • add ROS setup files to .bashrc since this is likely what a user needs this container to run.
  • use the https rosinstall instead of ssh file to avoid running into permissions issues when setting up docker.
• Adding a bash script to run an image with necessary X11 setup for using Docker with Rviz.
• Updating kimera_vio_euroc.rviz file for ease of use:
  • Changing background color to black so that the reference frame labels can be read
  • Changing the default fixed frame to odom. - Was not tested with loop closure enabled, but the default setup has loop closure turned off.
• Minor README changes.

Testing

For testing the Docker container, you will need to copy the updated install files into your container from your local machine. To do the following:

1. Copy the Kimera-VIO-ROS/install directory into Kimera-VIO-ROS/docker.
2. Add the following lines to Kimera-VIO-ROS/docker/Dockerfile to directly below line 21 (after the Kimera-VIO-ROS repository is cloned):

COPY install/kimera_vio_ros_ssh.rosinstall /catkin_ws/src/Kimera-VIO-ROS/install/kimera_vio_ros_ssh.rosinstall
COPY install/kimera_vio_ros_https.rosinstall /catkin_ws/src/Kimera-VIO-ROS/install/kimera_vio_ros_https.rosinstall

3. To run the ROS wrapper in Docker, follow the instructions in Kimera-VIO-ROS/docker/README.md.

[enrique-ramkissoon]

Added some comments. I've had to deviate from the instructions to get this running on my end.

[shiv1994]

Thorough testing with the recommended improvements results in expected operation of Kimera-VIO and makes setup much more friendly.