feat(slam): add rtabmap_ros

2025-07-14 11:34:38 +08:00
parent 3b6641c1fb
commit 943ce5b06f
1635 changed files with 603092 additions and 0 deletions
@@ -0,0 +1,71 @@
+# Image: introlab3it/rtabmap:bionic
+
+FROM ros:melodic-perception
+
+# Install build dependencies
+RUN apt-get update && \
+    apt-get install -y git software-properties-common ros-melodic-rtabmap-ros && \
+    apt-get remove -y ros-melodic-rtabmap* && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+WORKDIR /root/
+
+# GTSAM
+RUN add-apt-repository ppa:borglab/gtsam-release-4.0 -y
+RUN apt-get update && apt install libgtsam-dev libgtsam-unstable-dev -y && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+# MRPT # build failed: https://github.com/introlab/rtabmap/actions/runs/7259315306/job/19776230419
+#RUN add-apt-repository ppa:joseluisblancoc/mrpt-stable -y
+#RUN apt-get update && apt install libmrpt-poses-dev -y && \
+#    apt-get clean && rm -rf /var/lib/apt/lists/
+
+ARG TARGETPLATFORM
+ENV TARGETPLATFORM=${TARGETPLATFORM:-linux/amd64}
+RUN echo "I am building for $TARGETPLATFORM"
+
+# cmake >=3.14 required
+RUN if [ "$TARGETPLATFORM" = "linux/arm64" ]; then apt update && apt install -y wget && apt-get clean && rm -rf /var/lib/apt/lists/ && \
+    wget -nv https://github.com/Kitware/CMake/releases/download/v3.20.0/cmake-3.20.0-linux-aarch64.tar.gz   && \
+    tar -xzf cmake-3.20.0-linux-aarch64.tar.gz  && \
+    rm cmake-3.20.0-linux-aarch64.tar.gz  &&\
+    ln -s ~/cmake-3.20.0-linux-aarch64/bin/cmake ~/cmake; fi
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then apt update && apt install -y wget && apt-get clean && rm -rf /var/lib/apt/lists/ && \
+    wget -nv https://github.com/Kitware/CMake/releases/download/v3.20.0/cmake-3.20.0-linux-x86_64.tar.gz  && \
+    tar -xzf cmake-3.20.0-linux-x86_64.tar.gz  && \
+    rm cmake-3.20.0-linux-x86_64.tar.gz  &&\
+    ln -s ~/cmake-3.20.0-linux-x86_64/bin/cmake ~/cmake; fi
+    
+#commit Aug 6 2020
+RUN apt-get update && apt install wget && apt-get clean && rm -rf /var/lib/apt/lists/
+RUN git clone https://github.com/laurentkneip/opengv.git && \
+    cd opengv && \
+    git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3 && \
+    wget https://gist.githubusercontent.com/matlabbe/a412cf7c4627253874f81a00745a7fbb/raw/accc3acf465d1ffd0304a46b17741f62d4d354ef/opengv_disable_march_native.patch && \
+    git apply opengv_disable_march_native.patch && \
+    mkdir build && \
+    cd build && \
+    ~/cmake -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -r opengv
+
+# Will be used to read/store databases on host
+RUN mkdir -p /root/Documents/RTAB-Map
+
+RUN rm /bin/sh && ln -s /bin/bash /bin/sh
+
+# Copy current source code
+COPY . /root/rtabmap
+
+# Build RTAB-Map project
+RUN source /ros_entrypoint.sh && \
+    cd rtabmap/build && \
+    ~/cmake -DWITH_OPENGV=ON .. && \
+    make -j4 && \
+    make install && \
+    cd ../.. && \
+    rm -rf rtabmap && \
+    ldconfig
+