2023-01-22 16:14:39 -08:00
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# Image: introlab3it/rtabmap:jammy
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2023-06-04 21:01:24 -07:00
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FROM introlab3it/rtabmap:jammy-deps
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2023-05-07 18:41:44 -07:00
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# Will be used to read/store databases on host
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2023-05-29 23:24:47 -07:00
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RUN mkdir -p /root/Documents/RTAB-Map && chmod 777 /root/Documents/RTAB-Map
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2023-05-07 18:41:44 -07:00
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2023-01-22 16:14:39 -08:00
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# Copy current source code
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COPY . /root/rtabmap
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2026-09-22 14:41:07 -07:00
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ARG RUN_TESTS=0
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2023-01-22 16:14:39 -08:00
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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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2026-09-22 14:41:07 -07:00
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cmake -DWITH_OPENGV=ON -DBUILD_TESTING=$RUN_TESTS .. && \
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2025-06-01 18:36:36 -07:00
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make -j4 && \
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2026-09-22 14:41:07 -07:00
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# ldconfig first: source-installed deps (GTSAM) are not yet in the loader cache.
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if [ "$RUN_TESTS" = "1" ]; then ldconfig && ctest --output-on-failure -LE "long|performance"; fi && \
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2023-01-22 16:14:39 -08:00
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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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