feat(slam): add rtabmap_ros

rtabmap_ros/docker/melodic/Dockerfile

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

rtabmap_ros/docker/melodic/latest/Dockerfile

@@ -0,0 +1,14 @@
+FROM introlab3it/rtabmap:18.04
+
+RUN source /ros_entrypoint.sh && \
+    mkdir -p catkin_ws/src && \
+    cd catkin_ws/src && \
+    catkin_init_workspace
+    
+COPY . catkin_ws/src/rtabmap_ros
+
+RUN source /ros_entrypoint.sh && \
+    cd catkin_ws && \
+    catkin_make -j1 -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_INSTALL_PREFIX=/opt/ros/melodic install && \
+    cd && \
+    rm -rf catkin_ws

rtabmap_ros/docker/melodic/latest/hooks/build

@@ -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:melodic-latest  .