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Documentation Index

Fetch the complete documentation index at: https://docs.neuronav.io/llms.txt

Use this file to discover all available pages before exploring further.

Deploy the SDK with Docker for the fastest, most consistent setup across all platforms.

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Quick Start

The repository includes ready-to-use scripts: 
# Clone repository
git clone https://github.com/neuronav-io/neuronav-slam-sdk.git
cd neuronav-slam-sdk

# Build Docker image
./docker_build.sh

# Run container with camera access
./docker_run.sh

# Inside container, test SLAM
python3 examples/minimal_slam.py

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What’s Included

The Docker image automatically provides:
  • ROS2 Humble
  • RTAB-Map SLAM
  • Intel RealSense drivers
  • OAK-D Pro (DepthAI) drivers
  • All Python dependencies

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Manual Docker Commands

If you prefer manual control over the provided scripts: Build the image: 
docker build -t neuronav-slam .
Run with camera access: 
docker run -it --rm \
  --privileged \
  --network host \
  -v /dev:/dev \
  -v $(pwd):/workspace \
  neuronav-slam
Run with visualization: 
# Allow X11 connections
xhost +local:docker

# Run with display
docker run -it --rm \
  --privileged \
  --network host \
  -v /dev:/dev \
  -e DISPLAY=$DISPLAY \
  -v /tmp/.X11-unix:/tmp/.X11-unix \
  neuronav-slam

# Restore X11 security
xhost -local:docker

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Docker Compose

For running SLAM as a service: 
# docker-compose.yml
version: '3.8'

services:
  slam:
    build: .
    image: neuronav-slam:latest
    privileged: true
    network_mode: host
    volumes:
      - /dev:/dev
      - ./data:/data
    environment:
      - ROS_DOMAIN_ID=1
      - DISPLAY=${DISPLAY}
    command: python3 /workspace/examples/minimal_slam.py
    restart: unless-stopped
Run with: 
docker-compose up

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Common Use Cases

Save maps to host: 
docker run -it --rm \
  --privileged \
  -v /dev:/dev \
  -v $(pwd)/maps:/maps \
  neuronav-slam
Development with live code updates: 
docker run -it --rm \
  --privileged \
  -v /dev:/dev \
  -v $(pwd):/workspace \
  neuronav-slam bash

# Inside container
pip3 install -e /workspace  # Changes reflect immediately

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Troubleshooting

Camera not accessible: 
# Verify camera is connected
lsusb | grep -E "Intel|Luxonis"

# Ensure privileged mode
docker run --privileged -v /dev:/dev neuronav-slam
Visualization not working: 
# Allow X11 connections
xhost +local:docker

# Verify DISPLAY variable
echo $DISPLAY
ROS2 topics not visible: 
# Use host network mode
docker run --network host neuronav-slam

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Next Steps

Quick Start

Run your first SLAM

Examples

Code examples

Configuration

Customize settings