X-lanni
64 lines
1.6 KiB
Docker
64 lines
1.6 KiB
Docker
# Image: introlab3it/rtabmap:xenial
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FROM ros:kinetic-perception
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# Install/build dependencies
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RUN apt-get update && \
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apt-get install -y ros-kinetic-rtabmap-ros && \
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apt-get remove -y ros-kinetic-rtabmap && \
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rm -rf /var/lib/apt/lists/
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WORKDIR /root/
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# GTSAM
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RUN git clone https://bitbucket.org/gtborg/gtsam.git
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RUN cd gtsam && \
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git checkout 4.0.0-alpha2 && \
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mkdir build && \
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cd build && \
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cmake -DMETIS_SHARED=ON -DGTSAM_BUILD_STATIC_LIBRARY=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DCMAKE_BUILD_TYPE=Release .. && \
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make -j$(nproc) && \
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make install && \
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cd && \
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rm -r gtsam
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# libpointmatcher
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RUN git clone https://github.com/ethz-asl/libnabo.git
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#commit Apr 25 2018
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RUN cd libnabo && \
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git checkout 7e378f6765393462357b8b74d8dc8c5554542ae6 && \
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mkdir build && \
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cd build && \
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cmake -DCMAKE_BUILD_TYPE=Release .. && \
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make -j$(nproc) && \
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make install && \
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cd && \
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rm -r libnabo
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RUN git clone https://github.com/ethz-asl/libpointmatcher.git
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#commit Jan 19 2018
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RUN cd libpointmatcher && \
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git checkout 00004bd41e44a1cf8de24ad87e4914760717cbcc && \
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mkdir build && \
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cd build && \
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cmake -DCMAKE_BUILD_TYPE=Release .. && \
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make -j$(nproc) && \
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make install && \
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cd && \
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rm -r libpointmatcher
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# Copy current source code
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COPY . /root/rtabmap
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RUN rm /bin/sh && ln -s /bin/bash /bin/sh
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# Build RTAB-Map project
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RUN source /ros_entrypoint.sh && \
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cd rtabmap/build && \
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cmake .. && \
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make && \
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make install && \
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cd ../.. && \
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rm -rf rtabmap && \
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ldconfig
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