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 +1,35 @@
+FROM ros:indigo-perception
+# install rtabmap packages
+RUN apt-get update && apt-get install -y \
+    ros-indigo-rtabmap-ros \
+    && apt-get remove -y \
+    ros-indigo-rtabmap \
+    && rm -rf /var/lib/apt/lists/
+
+RUN rm /bin/sh && ln -s /bin/bash /bin/sh
+
+WORKDIR /root/
+
+ARG CACHE_DATE=2016-01-01
+
+RUN git clone https://github.com/introlab/rtabmap.git
+
+# Build RTAB-Map project
+RUN source /ros_entrypoint.sh && \
+    cd rtabmap/build && \
+    cmake .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../.. && \
+    rm -rf rtabmap && \
+    ldconfig
+
+RUN source /ros_entrypoint.sh && \
+    mkdir -p catkin_ws/src && \
+    cd catkin_ws/src && \
+    catkin_init_workspace && \
+    git clone https://github.com/introlab/rtabmap_ros.git && \
+    cd .. && \
+    catkin_make -DCMAKE_INSTALL_PREFIX=/opt/ros/indigo install && \
+    cd && \
+    rm -rf catkin_ws