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 +1,20 @@
+# Image: introlab3it/rtabmap:noble-kilted
+
+FROM introlab3it/rtabmap:noble-kilted-deps
+
+# 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 -j4 && \
+    make install && \
+    cd ../.. && \
+    rm -rf rtabmap && \
+    ldconfig
+