feat(slam): add rtabmap_ros

rtabmap_ros/.devcontainer/humble/Dockerfile

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+
+FROM introlab3it/rtabmap:jammy
+
+ARG USERNAME=vscode
+ARG USER_UID=1000
+ARG USER_GID=1000
+
+RUN set -ex && \
+    groupadd --gid ${USER_GID} ${USERNAME} && \
+    useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} && \
+    usermod -a -G sudo ${USERNAME}
+
+RUN mkdir -p /home/${USERNAME}/ros2_ws/src && \
+    chown -R ${USERNAME}:${USERNAME} /home/${USERNAME}/ros2_ws
+
+RUN echo "source /opt/ros/humble/setup.bash" >> /home/${USERNAME}/.bashrc
+RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc

rtabmap_ros/.devcontainer/humble/devcontainer.json

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+{
+    "build": {
+      "dockerfile": "Dockerfile",
+      "pull": true
+    },
+    "remoteUser": "vscode",
+    "customizations": {
+        "vscode": {
+          "extensions": [
+            "ms-vscode.cpptools-themes",
+            "ms-vscode.cmake-tools", 
+            "ms-vscode.cpptools-extension-pack",
+            "ms-azuretools.vscode-docker",
+            "ms-python.python"]
+        }
+      },
+    "settings": {
+      "python.autoComplete.extraPaths": [
+        "/opt/ros/humble/lib/python3/dist-packages"
+      ],
+      "terminal.integrated.defaultProfile.linux": "bash"
+    },
+    "workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/ros2_ws/src/rtabmap_ros,type=bind",
+    "workspaceFolder": "/home/vscode/ros2_ws",
+    "postCreateCommand": "echo 'Initialize: export MAKEFLAGS=\"-j6\" && colcon build --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release --parallel-workers 2'"
+    //"runArgs": ["--privileged", "--runtime=nvidia", "--network=host"]
+}