Docker: Added jammy

docker/jammy/Dockerfile

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+# Image: introlab3it/rtabmap:jammy
+
+FROM osrf/ros:humble-desktop
+
+# Install build dependencies
+RUN apt-get update && \
+    apt-get install -y git software-properties-common ros-humble-rtabmap-ros && \
+    apt-get remove -y ros-humble-rtabmap
+
+WORKDIR /root/
+   
+# PDAL
+RUN apt-get install -y libpdal-dev
+
+# RealSense2
+RUN apt-get install -y ros-humble-librealsense2
+
+ARG TARGETPLATFORM
+ENV TARGETPLATFORM=${TARGETPLATFORM:-linux/amd64}
+RUN echo "I am building for $TARGETPLATFORM"
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+# libfreenect2 
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing libfreenect2..." && \
+    apt-get update && apt-get install -y mesa-utils xserver-xorg-video-all libusb-1.0-0-dev libturbojpeg0-dev libglfw3-dev && \
+    git clone https://github.com/OpenKinect/libfreenect2 && \
+    cd libfreenect2 && \
+    mkdir build && \
+    cd build && \
+    cmake .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r libfreenect2; fi
+
+# zed open capture
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing zed-open-capture..." && \
+    apt-get update && apt install libusb-1.0-0-dev libhidapi-libusb0 libhidapi-dev wget && \
+    git clone https://github.com/stereolabs/zed-open-capture.git && \
+    cd zed-open-capture && \
+    mkdir build && \
+    cd build && \
+    cmake .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r zed-open-capture; fi
+    
+#commit Aug 6 2020
+RUN apt-get update && apt install wget
+RUN git clone https://github.com/laurentkneip/opengv.git && \
+    cd opengv && \
+    git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3 && \
+    wget https://gist.githubusercontent.com/matlabbe/a412cf7c4627253874f81a00745a7fbb/raw/accc3acf465d1ffd0304a46b17741f62d4d354ef/opengv_disable_march_native.patch && \
+    git apply opengv_disable_march_native.patch && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r opengv
+
+RUN rm /bin/sh && ln -s /bin/bash /bin/sh
+
+# Copy current source code
+COPY . /root/rtabmap
+
+ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/humble/lib/x86_64-linux-gnu
+
+# Build RTAB-Map project
+RUN source /ros_entrypoint.sh && \
+    cd rtabmap/build && \
+    cmake -DWITH_OPENGV=ON .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../.. && \
+    rm -rf rtabmap && \
+    ldconfig
+