feat(slam): add rtabmap_ros

rtabmap_ros/docker/iron/Dockerfile

@@ -0,0 +1,7 @@
+FROM osrf/ros:iron-desktop
+# install rtabmap packages
+ARG CACHE_DATE=2016-01-01
+RUN apt-get update && apt-get install -y \
+    ros-iron-rtabmap \
+    ros-iron-rtabmap-ros \
+    && rm -rf /var/lib/apt/lists/

rtabmap_ros/docker/iron/latest/Dockerfile

@@ -0,0 +1,20 @@
+FROM introlab3it/rtabmap:jammy-iron
+
+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" && \
+    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 && \
+    apt remove ros-$ROS_DISTRO-rtabmap* -y && \
+    apt-get clean && rm -rf /var/lib/apt/lists/ && \
+    colcon build --event-handlers console_direct+ --install-base /opt/ros/iron --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
+    cd && \
+    rm -rf ros2_ws