Docker: added zesty

docker/zesty/Dockerfile

@@ -0,0 +1,33 @@
+# Image: introlab3it/rtabmap:zesty
+
+FROM ubuntu:17.04
+
+# Install build dependencies
+RUN apt-get update && apt-get install -y \
+      libsqlite3-dev \
+      libpcl-dev \
+      libopencv-dev \
+      git \
+      cmake \
+      libproj-dev \
+      libqt5svg5-dev \
+      software-properties-common
+
+# Issue: http://www.pcl-users.org/Build-failure-on-Ubuntu-17-04-td4044552.html
+RUN sed -i 's|/usr/lib/libmpi.so;||g' /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake
+
+# Clone source code
+WORKDIR /root/
+RUN git clone https://github.com/introlab/rtabmap.git
+
+# Build RTAB-Map project
+RUN cd rtabmap/build && \
+    cmake .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../.. && \
+    rm -rf rtabmap && \
+    ldconfig
+
+WORKDIR /root
+