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 ros:kinetic-perception
+# install rtabmap packages
+ARG CACHE_DATE=2016-01-01
+RUN apt-get update && apt-get install -y \
+    ros-kinetic-rtabmap \
+    ros-kinetic-rtabmap-ros \
+    && rm -rf /var/lib/apt/lists/
@@ -0,0 +1,13 @@
+FROM introlab3it/rtabmap:16.04
+
+ARG CACHE_DATE=2016-01-01
+
+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 -j1 -DCMAKE_INSTALL_PREFIX=/opt/ros/kinetic install && \
+    cd && \
+    rm -rf catkin_ws
@@ -0,0 +1,2 @@
+#!/bin/bash 
+docker build --build-arg CACHE_DATE="$(date)" --cache-from $IMAGE_NAME -f $DOCKERFILE_PATH -t $IMAGE_NAME -t $DOCKER_REPO:kinetic-latest  .