Merge branch 'master' of github.com:introlab/rtabmap into gtest

.devcontainer/rolling/Dockerfile

@@ -0,0 +1,77 @@
+
+FROM ubuntu:24.04
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install ROS2
+RUN apt update && \
+    apt install software-properties-common -y && \
+    add-apt-repository universe && \
+    apt update && \
+    apt install curl -y && \
+    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+# Install build dependencies
+RUN apt-get update && \
+    apt upgrade -y && \
+    apt-get install -y \
+      git \
+      wget \
+      libtbb-dev \
+      libproj-dev \
+      libpcl-dev \
+      liboctomap-dev \
+      libfreenect-dev \
+      ros-rolling-ros-base \
+      ros-dev-tools \
+      ros-rolling-cv-bridge \
+      ros-rolling-image-geometry \
+      ros-rolling-laser-geometry \
+      ros-rolling-pcl-conversions \
+      ros-rolling-rviz-common \
+      ros-rolling-rviz-rendering \
+      ros-rolling-rviz-default-plugins \
+      ros-rolling-pcl-ros \
+      ros-rolling-imu-filter-madgwick \
+      ros-rolling-image-transport \
+      ros-rolling-octomap-msgs \
+      ros-rolling-libg2o \
+      ros-rolling-gtsam \
+      ros-rolling-libpointmatcher \
+      ros-rolling-qt-gui-cpp \
+      ros-rolling-diagnostic-updater && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+WORKDIR /root/
+
+RUN rm /bin/sh && ln -s /bin/bash /bin/sh
+
+RUN echo -e '#!/bin/bash\nset -e\n\n# setup ros2 environment\nsource "/opt/ros/rolling/setup.bash" --\nexec "$@"' > /ros_entrypoint.sh
+RUN chmod +x /ros_entrypoint.sh
+ENTRYPOINT [ "/ros_entrypoint.sh" ]
+
+# ros2 seems not sourcing by default its multi-arch folders
+ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/rolling/lib/x86_64-linux-gnu
+
+# For devcontainer
+# remove ubuntu user
+RUN touch /var/mail/ubuntu && chown ubuntu /var/mail/ubuntu && userdel -r ubuntu
+
+RUN apt-get update && apt-get install -y sudo && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+ARG USERNAME=vscode
+ARG USER_UID=1000
+ARG USER_GID=1000
+
+RUN set -ex && \
+    groupadd --gid ${USER_GID} ${USERNAME} && \
+    useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} && \
+    usermod -a -G sudo ${USERNAME} && \
+    echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USERNAME} && \
+    chmod 0440 /etc/sudoers.d/${USERNAME}
+
+RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc
+

.devcontainer/rolling/devcontainer.json

@@ -0,0 +1,17 @@
+{
+    "build": {
+      "dockerfile": "Dockerfile"
+    },
+    "customizations": {
+        "vscode": {
+          "extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools"]
+        }
+      },
+    "workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/rtabmap,type=bind",
+    "workspaceFolder": "/home/vscode/rtabmap",
+    "settings": {
+      "terminal.integrated.defaultProfile.linux": "bash"
+    },
+    "remoteUser": "vscode",
+    "runArgs": ["--privileged", "--network=host"]
+}

corelib/src/optimizer/gtsam/GravityFactor.h

@@ -74,8 +74,8 @@ public:
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
-    ar & boost::serialization::make_nvp("nZ_", const_cast<Unit3&>(nZ_));
+    /*ar & boost::serialization::make_nvp("nZ_", const_cast<Unit3&>(nZ_));
-    ar & boost::serialization::make_nvp("bRef_", const_cast<Unit3&>(bRef_));
+    ar & boost::serialization::make_nvp("bRef_", const_cast<Unit3&>(bRef_));*/
   }
 #endif
 };
@@ -158,10 +158,10 @@ private:
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
-    ar & boost::serialization::make_nvp("NoiseModelFactor1",
+    /*ar & boost::serialization::make_nvp("NoiseModelFactor1",
         boost::serialization::base_object<Base>(*this));
     ar & boost::serialization::make_nvp("GravityFactor",
-        boost::serialization::base_object<GravityFactor>(*this));
+        boost::serialization::base_object<GravityFactor>(*this));*/
   }
 #endif
 
@@ -254,10 +254,10 @@ private:
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
-    ar & boost::serialization::make_nvp("NoiseModelFactor1",
+    /*ar & boost::serialization::make_nvp("NoiseModelFactor1",
         boost::serialization::base_object<Base>(*this));
     ar & boost::serialization::make_nvp("GravityFactor",
-        boost::serialization::base_object<GravityFactor>(*this));
+        boost::serialization::base_object<GravityFactor>(*this));*/
   }
 #endif
 public: