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 +1,27 @@
+# Image: introlab3it/rtabmap:trusty
+
+FROM ros:indigo-perception
+
+# Install/build dependencies
+RUN apt-get update && \
+    apt-get install -y ros-indigo-rtabmap-ros && \
+    apt-get remove -y ros-indigo-rtabmap && \
+    rm -rf /var/lib/apt/lists/
+
+WORKDIR /root/
+
+# Copy current source code
+COPY . /root/rtabmap
+
+RUN rm /bin/sh && ln -s /bin/bash /bin/sh
+
+# Build RTAB-Map project
+RUN source /ros_entrypoint.sh && \
+    cd rtabmap/build && \
+    cmake .. && \
+    make && \
+    make install && \
+    cd ../.. && \
+    rm -rf rtabmap && \
+    ldconfig
+