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pr-483/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/calibrating-sensors/lidar-imu-calibration/index.html

@@ -6253,8 +6253,8 @@ <h2 id="overview">Overview<a class="headerlink" href="#overview" title="Permanen
 are calibrated comprehensively without explicit hand-crafted targets.</p>
 <div class="admonition warning">
 <p class="admonition-title">Warning</p>
-<p>So, we are providing a docker image which has <abbr title="Robot Operating System">ROS</abbr> 1 and all necessary packages.
-This calibration tool is developed with <abbr title="Robot Operating System">ROS</abbr> 1, and it is not compatible with <abbr title="Robot Operating System">ROS</abbr> 2.
+<p>This calibration tool is developed with <abbr title="Robot Operating System">ROS</abbr> 1, and it is not compatible with <abbr title="Robot Operating System">ROS</abbr> 2.
+So, we are providing a docker image which has <abbr title="Robot Operating System">ROS</abbr> 1 and all necessary packages.
 In the calibration instructions, we will ask you to install docker on your
 system.</p>
 </div>
@@ -6365,7 +6365,7 @@ <h2 id="lidar-imu-calibration_1">Lidar-Imu Calibration<a class="headerlink" href
 on your system.</p>
 </div>
 <div class="highlight"><pre><span></span><code><span class="nb">export</span><span class="w"> </span><span class="nv">REPO_PATH</span><span class="o">=</span><span class="s2">"/path/to/OA-LICalib"</span>
-docker<span class="w"> </span>run<span class="w"> </span>-it<span class="w"> </span>--env<span class="o">=</span><span class="s2">"DISPLAY"</span><span class="w"> </span>--volume<span class="o">=</span><span class="s2">"</span><span class="nv">$HOME</span><span class="s2">/.Xauthority:/root/.Xauthority:rw"</span><span class="w"> </span>--volume<span class="o">=</span><span class="s2">"/tmp/.X11-unix:/tmp/.X11-unix:rw"</span><span class="w"> </span>--volume<span class="o">=</span><span class="s2">"</span><span class="nv">$REPO_PATH</span><span class="s2">:/root/calib_ws/src/OA-LICalib"</span><span class="w"> </span>calib:v1<span class="w"> </span>bash
+docker<span class="w"> </span>run<span class="w"> </span>-it<span class="w"> </span>--env<span class="o">=</span><span class="s2">"DISPLAY"</span><span class="w"> </span>--volume<span class="o">=</span><span class="s2">"</span><span class="nv">$HOME</span><span class="s2">/.Xauthority:/root/.Xauthority:rw"</span><span class="w"> </span>--volume<span class="o">=</span><span class="s2">"/tmp/.X11-unix:/tmp/.X11-unix:rw"</span><span class="w"> </span>--volume<span class="o">=</span><span class="s2">"</span><span class="nv">$REPO_PATH</span><span class="s2">:/root/catkin_oa_calib/src/OA-LICalib"</span><span class="w"> </span>oalicalib<span class="w"> </span>bash
 </code></pre></div>
 <p>Before running the calibration tool, you should change some parameters from the
 configuration file. You can find the configuration file in the <code>OA-LICalib/config</code></p>
@@ -6408,7 +6408,8 @@ <h2 id="lidar-imu-calibration_1">Lidar-Imu Calibration<a class="headerlink" href
 <p>After running the calibration tool, you can track the calibration process
 with connecting to the container on other terminal. To connect to the container,
 you can run the following command:</p>
-<div class="highlight"><pre><span></span><code>docker<span class="w"> </span><span class="nb">exec</span><span class="w"> </span>-it<span class="w"> </span>&lt;container_name&gt;<span class="w"> </span>bash
+<div class="highlight"><pre><span></span><code>xhost<span class="w"> </span>+local:docker
+docker<span class="w"> </span><span class="nb">exec</span><span class="w"> </span>-it<span class="w"> </span>&lt;container_name&gt;<span class="w"> </span>bash
 </code></pre></div>
 <div class="admonition warning">
 <p class="admonition-title">Warning</p>