前提条件：物理机上安装好ROS和Docker，参考

http://wiki.ros.org/ROS/Installation

Ubuntu Docker 安装 | 菜鸟教程

Docker 换源

sudo mkdir -p /etc/docker
sudo tee /etc/docker/daemon.json <<-'EOF'
{
  "registry-mirrors": ["镜像源网址"]
}
EOF
sudo systemctl daemon-reload
sudo systemctl restart docker

完成后创建工作目录

mkdir -p ~/catkin_ws/src
cd ~/catkin/src

从 Github 上 git vins-mono 的源码

git clone https://github.com/HKUST-Aerial-Robotics/VINS-Mono.git

下载完成后进入的 docker 文件夹

cd ~/catkin_ws/src/VINS-Mono/docker/

打开 Dockerfile 文件

sudo gedit Dockerfile

将 ceres-solver 的版本

ENV CERES_VERSION="1.12.0"

改为

ENV CERES_VERSION="1.14.0"

将 ceres-solver 的下载地址

git clone https://ceres-solver.googlesource.com/ceres-solver

改为

https://github.com/ceres-solver/ceres-solver.git

将编译线程

make -j$(USE_PROC) install

改为

make -j8 install

简单期间可以直接复制下面内容替代文本

FROM ros:kinetic-perception

ENV CERES_VERSION="1.14.0"
ENV CATKIN_WS=/root/catkin_ws

      # set up thread number for building
RUN   if [ "x$(nproc)" = "x1" ] ; then export USE_PROC=1 ; \
      else export USE_PROC=$(($(nproc)/2)) ; fi && \
      apt-get update && apt-get install -y \
      cmake \
      libatlas-base-dev \
      libeigen3-dev \
      libgoogle-glog-dev \
      libsuitesparse-dev \
      python-catkin-tools \
      ros-${ROS_DISTRO}-cv-bridge \
      ros-${ROS_DISTRO}-image-transport \
      ros-${ROS_DISTRO}-message-filters \
      ros-${ROS_DISTRO}-tf && \
      rm -rf /var/lib/apt/lists/* && \
      # Build and install Ceres
      git clone https://github.com/ceres-solver/ceres-solver.git && \
      cd ceres-solver && \
      git checkout tags/${CERES_VERSION} && \
      mkdir build && cd build && \
      cmake .. && \
      make -j8 install && \
      rm -rf ../../ceres-solver && \
      mkdir -p $CATKIN_WS/src/VINS-Mono/

# Copy VINS-Mono
COPY ./ $CATKIN_WS/src/VINS-Mono/
# use the following line if you only have this dockerfile
# RUN git clone https://github.com/HKUST-Aerial-Robotics/VINS-Mono.git

# Build VINS-Mono
WORKDIR $CATKIN_WS
ENV TERM xterm
ENV PYTHONIOENCODING UTF-8
RUN catkin config \
      --extend /opt/ros/$ROS_DISTRO \
      --cmake-args \
        -DCMAKE_BUILD_TYPE=Release && \
    catkin build && \
    sed -i '/exec "$@"/i \
            source "/root/catkin_ws/devel/setup.bash"' /ros_entrypoint.sh

保存并退出。终端输入

lilabws01@lilabws01:~/catkin_ws/src/VINS-Mono/docker$ make build

生成 vins-mono 的 docker 镜像。