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 +1,87 @@
+
+# humble or jazzy
+ARG ROS_DISTRO=humble
+
+FROM osrf/ros:${ROS_DISTRO}-desktop
+
+# Install build dependencies
+RUN apt-get update && \
+    apt-get install -y git software-properties-common ros-${ROS_DISTRO}-rtabmap-ros libqt6* qt6* qml6* && \
+    apt-get remove -y ros-${ROS_DISTRO}-rtabmap* ros-${ROS_DISTRO}-gtsam ros-${ROS_DISTRO}-libg2o libpcl* libqt5* qt5* libvtk* libopencv* && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+WORKDIR /root/
+
+RUN rm /bin/sh && ln -s /bin/bash /bin/sh
+
+# Build latest VTK with Qt6
+RUN git clone https://github.com/Kitware/VTK.git && \
+    cd VTK && \
+    mkdir build && \
+    cd build && \
+    cmake -DVTK_GROUP_ENABLE_Qt=YES .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../.. && \
+    rm -rf VTK
+    
+# Build latest PCL with latest VTK
+# Make sure all libraries depending on Eigen are built with same CXX standard (17)
+RUN git clone https://github.com/PointCloudLibrary/pcl.git && \
+    cd pcl && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_CXX_STANDARD=17 -DBUILD_tools=OFF -DPCL_ENABLE_AVX=OFF -DPCL_ENABLE_MARCHNATIVE=OFF -DPCL_ENABLE_SSE=OFF .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../.. && \
+    rm -rf pcl
+    
+# Build latest OpenCV
+RUN git clone https://github.com/opencv/opencv.git && \
+    git clone https://github.com/opencv/opencv_contrib.git && \
+    cd opencv && \
+    mkdir build && \
+    cd build && \
+    cmake -DBUILD_opencv_python3=OFF -DBUILD_opencv_python_bindings_generator=OFF -DBUILD_opencv_python_tests=OFF -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF -DOPENCV_ENABLE_NONFREE=ON -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../.. && \
+    rm -rf opencv opencv_contrib
+
+# Build latest gtsam
+RUN git clone https://github.com/borglab/gtsam.git && \
+ cd gtsam && \
+ mkdir build && \
+ cd build && \
+ cmake -DCMAKE_CXX_STANDARD=17 -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_STATIC_LIBRARY=OFF -DGTSAM_BUILD_UNSTABLE=OFF -DGTSAM_INSTALL_CPPUNILITE=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON .. && \
+ cmake --build . --config Release --target install && \
+ cd ../.. && \
+ rm -rf gtsam
+
+# Build latest g2o
+RUN git clone https://github.com/RainerKuemmerle/g2o.git  && \
+ cd g2o && \
+ mkdir build && \
+ cd build && \
+ cmake -DCMAKE_CXX_STANDARD=17 -DBUILD_WITH_MARCH_NATIVE=OFF -DG2O_BUILD_APPS=OFF -DG2O_BUILD_EXAMPLES=OFF -DG2O_USE_OPENGL=OFF .. && \
+ cmake --build . --config Release --target install && \
+ cd ../.. && \
+ rm -rf g2o
+
+RUN mkdir -p /root/Documents/RTAB-Map
+
+# Copy current source code
+COPY . /root/rtabmap
+
+# Build RTAB-Map project
+RUN source /ros_entrypoint.sh && \
+    cd rtabmap/build && \
+    cmake .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../.. && \
+    rm -rf rtabmap && \
+    ldconfig
+
+