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 +1,63 @@
+# Image: introlab3it/rtabmap:xenial
+
+FROM ros:kinetic-perception
+
+# Install/build dependencies
+RUN apt-get update && \
+    apt-get install -y ros-kinetic-rtabmap-ros && \
+    apt-get remove -y ros-kinetic-rtabmap && \
+    rm -rf /var/lib/apt/lists/
+
+WORKDIR /root/
+
+# GTSAM
+RUN git clone https://bitbucket.org/gtborg/gtsam.git
+RUN cd gtsam && \
+    git checkout 4.0.0-alpha2 && \
+    mkdir build && \
+    cd build && \
+    cmake -DMETIS_SHARED=ON -DGTSAM_BUILD_STATIC_LIBRARY=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r gtsam
+
+# libpointmatcher 
+RUN git clone https://github.com/ethz-asl/libnabo.git
+#commit Apr 25 2018
+RUN cd libnabo && \
+    git checkout 7e378f6765393462357b8b74d8dc8c5554542ae6 && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r libnabo
+RUN git clone https://github.com/ethz-asl/libpointmatcher.git
+#commit Jan 19 2018
+RUN cd libpointmatcher && \
+    git checkout 00004bd41e44a1cf8de24ad87e4914760717cbcc && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r libpointmatcher
+
+# 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
+