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 +1,26 @@
+FROM introlab3it/rtabmap:20.04
+
+RUN source /ros_entrypoint.sh && \
+    mkdir -p catkin_ws/src && \
+    cd catkin_ws/src && \
+    catkin_init_workspace
+
+COPY . catkin_ws/src/rtabmap_ros
+
+RUN if [ "$TARGETPLATFORM" = "linux/arm/v7" ]; then \
+    source /ros_entrypoint.sh && \
+    cd catkin_ws && \
+    catkin_make -j1 -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_INSTALL_PREFIX=/opt/ros/noetic install && \
+    cd && \
+    rm -rf catkin_ws ;fi
+
+RUN if [ "$TARGETPLATFORM" != "linux/arm/v7" ]; then \
+    source /ros_entrypoint.sh && \
+    cd catkin_ws && \
+    apt update && \
+    rosdep install --from-paths src --ignore-src -y && \
+    apt remove ros-$ROS_DISTRO-rtabmap* -y && \
+    apt-get clean && rm -rf /var/lib/apt/lists/ && \
+    catkin_make -j1 -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_INSTALL_PREFIX=/opt/ros/noetic install && \
+    cd && \
+    rm -rf catkin_ws ;fi