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 +1,7 @@
+FROM osrf/ros:humble-desktop
+# install rtabmap packages
+ARG CACHE_DATE=2016-01-01
+RUN apt-get update && apt-get install -y \
+    ros-humble-rtabmap \
+    ros-humble-rtabmap-ros \
+    && rm -rf /var/lib/apt/lists/
@@ -0,0 +1,17 @@
+FROM introlab3it/rtabmap:jammy
+
+RUN mkdir -p ros2_ws/src
+
+COPY . ros2_ws/src/rtabmap_ros
+
+RUN source /ros_entrypoint.sh && \
+    cd ros2_ws && \
+    export MAKEFLAGS="-j2" && \
+    rosdep init && \
+    rosdep update && \
+    apt-get update && \
+    rosdep install --from-paths src --ignore-src -r -y -t build_export -t test -t build -t buildtool_export -t buildtool --skip-keys="rtabmap" && \
+    apt-get clean && rm -rf /var/lib/apt/lists/ && \
+    colcon build --executor sequential --event-handlers console_direct+ --install-base /opt/ros/humble --merge-install --cmake-args --debug-find -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
+    cd && \
+    rm -rf ros2_ws