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 +1,18 @@
+FROM introlab3it/rtabmap:focal-foxy
+
+RUN apt-get update && apt-get install -y \
+    ros-foxy-pcl-ros \
+    && rm -rf /var/lib/apt/lists/
+
+RUN source /ros_entrypoint.sh && \
+    mkdir -p ros2_ws/src && \
+    cd ros2_ws/src
+
+COPY . ros2_ws/src/rtabmap_ros
+
+RUN source /ros_entrypoint.sh && \
+    cd ros2_ws && \
+    export MAKEFLAGS="-j1" && \
+    colcon build --event-handlers console_direct+ --install-base /opt/ros/foxy --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
+    cd && \
+    rm -rf ros2_ws