feat(slam): add rtabmap_ros

rtabmap/docker/jammy-iron/Dockerfile

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+# Image: introlab3it/rtabmap:jammy-iron
+
+FROM introlab3it/rtabmap:jammy-iron-deps
+
+# June 19 2023: moved opengv here so that jammy-deps can be built on my computer. Not sure why but on my machine opengv arm64 fails, but not on CI.
+#commit Aug 6 2020
+RUN apt-get update && apt install -y 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 -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r opengv
+
+# Will be used to read/store databases on host
+RUN mkdir -p /root/Documents/RTAB-Map && chmod 777 /root/Documents/RTAB-Map
+
+# Copy current source code
+COPY . /root/rtabmap
+
+# Build RTAB-Map project
+RUN source /ros_entrypoint.sh && \
+    cd rtabmap/build && \
+    cmake -DWITH_OPENGV=ON .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../.. && \
+    rm -rf rtabmap && \
+    ldconfig
+