feat(slam): add rtabmap_ros

rtabmap_ros/docker/README.md

@@ -0,0 +1,51 @@
+### Docker
+
+* Available images on [introlab3it/rtabmap_ros](https://hub.docker.com/r/introlab3it/rtabmap_ros/):
+    ```
+    humble, humble-latest
+    jazzy, jazzy-latest
+    ```
+    * The `-latest` images are automatically built from latest version of `rtabmap` and `rtabmap_ros` from source (including dependencies that are not available with ROS binaries). The other images have the same version than the binaries released on ROS. 
+
+
+* Launch `rtabmap` from inside the container (**no gui**), saving the database on host `~/.ros/rtabmap.db`:
+    ```bash
+    docker run -it --rm \
+     --user $UID \
+     -e ROS_HOME=/tmp/.ros \
+     -e OMP_WAIT_POLICY=passive \
+     --network=host \
+     --ipc=host \
+     -v ~/.ros:/tmp/.ros \
+     introlab3it/rtabmap_ros:humble-latest \
+     ros2 launch rtabmap_launch rtabmap.launch.py rtabmap_viz:=false database_path:=/tmp/.ros/rtabmap.db rtabmap_args:="--delete_db_on_start"
+   ```
+   
+* Launch `rtabmap_viz` from inside the container, using [nvidia-docker2 approach](http://wiki.ros.org/docker/Tutorials/Hardware%20Acceleration#nvidia-docker2):
+
+   ```bash
+    # those following 3 lines would need to be done only one time
+    XAUTH=/tmp/.docker.xauth
+    touch $XAUTH
+    xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
+
+    docker run -it --rm \
+      --privileged \
+      -e DISPLAY=$DISPLAY \
+      -e QT_X11_NO_MITSHM=1 \
+      -e NVIDIA_VISIBLE_DEVICES=all \
+      -e NVIDIA_DRIVER_CAPABILITIES=all \
+      -e XAUTHORITY=$XAUTH \
+      -e OMP_WAIT_POLICY=passive \
+      --user $UID \
+      -e ROS_HOME=/tmp/.ros \
+      -v ~/.ros:/tmp/.ros \
+      --runtime=nvidia \
+      --network=host \
+      --ipc=host \
+      -v $XAUTH:$XAUTH \
+      -v /tmp/.X11-unix:/tmp/.X11-unix \
+      introlab3it/rtabmap_ros:humble-latest \
+      /bin/bash -c "ros2 run rtabmap_viz rtabmap_viz --ros-args -r __ns:=/rtabmap"
+    ```
+