Docker: updated ros2 base image to support arm64

docker/focal-foxy/Dockerfile

@@ -1,10 +1,22 @@
 # Image: introlab3it/rtabmap:focal-foxy
 
-FROM osrf/ros:foxy-desktop
+FROM ubuntu:20.04
+
+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/
+
+ENV DEBIAN_FRONTEND=noninteractive
 
 # Install build dependencies
 RUN apt-get update && \
-    apt-get install -y git software-properties-common ros-foxy-rtabmap-ros && \
+    apt upgrade -y && \
+    apt-get install -y git ros-foxy-ros-base python3-argcomplete ros-dev-tools ros-foxy-rtabmap-ros && \
     apt-get remove -y ros-foxy-rtabmap && \
     apt-get clean && rm -rf /var/lib/apt/lists/
 
@@ -32,8 +44,6 @@ ARG TARGETPLATFORM
 ENV TARGETPLATFORM=${TARGETPLATFORM:-linux/amd64}
 RUN echo "I am building for $TARGETPLATFORM"
 
-ENV DEBIAN_FRONTEND=noninteractive
-
 # Azure Kinect DK
 # Taken from https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/1190#issuecomment-822772494
 # K4A binaries on 20.04 not released yet, we should take those from 18.04
@@ -77,7 +87,7 @@ RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing libfreenect2
 
 # zed open capture
 RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing zed-open-capture..." && \
-    apt-get update && apt install libusb-1.0-0-dev libhidapi-libusb0 libhidapi-dev wget && \
+    apt-get update && apt install -y libusb-1.0-0-dev libhidapi-libusb0 libhidapi-dev wget && \
     apt-get clean && rm -rf /var/lib/apt/lists/ && \
     git clone https://github.com/stereolabs/zed-open-capture.git && \
     cd zed-open-capture && \
@@ -145,7 +155,7 @@ RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then git clone https://github.com/
     rm -r AliceVision; fi
     
 #commit Aug 6 2020
-RUN apt-get update && apt install wget && \
+RUN apt-get update && apt install -y wget && \
     apt-get clean && rm -rf /var/lib/apt/lists/
 RUN git clone https://github.com/laurentkneip/opengv.git && \
     cd opengv && \
@@ -172,13 +182,16 @@ RUN git clone --branch 4.2.0 https://github.com/opencv/opencv.git && \
     rm -rf opencv opencv_contrib
 
 # Will be used to read/store databases on host
-RUN mkdir -p /root/Documents/RTAB-Map
+RUN mkdir -p /root/Documents/RTAB-Map && chmod 777 /root/Documents/RTAB-Map
 
 RUN rm /bin/sh && ln -s /bin/bash /bin/sh
 
 # Copy current source code
 COPY . /root/rtabmap
 
+RUN cp /root/rtabmap/docker/focal-foxy/ros_entrypoint.sh /ros_entrypoint.sh
+ENTRYPOINT [ "/ros_entrypoint.sh" ]
+
 # Build RTAB-Map project
 RUN source /ros_entrypoint.sh && \
     cd rtabmap/build && \

docker/focal-foxy/ros_entrypoint.sh

@@ -0,0 +1,6 @@
+#!/bin/bash
+set -e
+
+# setup ros2 environment
+source "/opt/ros/foxy/setup.bash" --
+exec "$@"

docker/jammy/Dockerfile

@@ -1,15 +1,28 @@
 # Image: introlab3it/rtabmap:jammy
 
-FROM osrf/ros:humble-desktop
+FROM ubuntu:22.04
+
+# 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/
+
+ENV DEBIAN_FRONTEND=noninteractive
 
 # Install build dependencies
 RUN apt-get update && \
-    apt-get install -y git software-properties-common ros-humble-rtabmap-ros && \
+    apt upgrade -y && \
+    apt-get install -y git ros-humble-ros-base ros-dev-tools ros-humble-rtabmap-ros && \
     apt-get remove -y ros-humble-rtabmap* && \
     apt-get clean && rm -rf /var/lib/apt/lists/
 
 WORKDIR /root/
-   
+
 # PDAL
 RUN apt-get update && apt-get install -y libpdal-dev && \
     apt-get clean && rm -rf /var/lib/apt/lists/
@@ -22,8 +35,6 @@ ARG TARGETPLATFORM
 ENV TARGETPLATFORM=${TARGETPLATFORM:-linux/amd64}
 RUN echo "I am building for $TARGETPLATFORM"
 
-ENV DEBIAN_FRONTEND=noninteractive
-
 # libfreenect2 
 RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing libfreenect2..." && \
     apt-get update && apt-get install -y mesa-utils xserver-xorg-video-all libusb-1.0-0-dev libturbojpeg0-dev libglfw3-dev && \
@@ -40,7 +51,7 @@ RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing libfreenect2
 
 # zed open capture
 RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing zed-open-capture..." && \
-    apt-get update && apt install libusb-1.0-0-dev libhidapi-libusb0 libhidapi-dev wget && \
+    apt-get update && apt install -y libusb-1.0-0-dev libhidapi-libusb0 libhidapi-dev wget && \
     apt-get clean && rm -rf /var/lib/apt/lists/ && \
     git clone https://github.com/stereolabs/zed-open-capture.git && \
     cd zed-open-capture && \
@@ -53,7 +64,7 @@ RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing zed-open-cap
     rm -r zed-open-capture; fi
     
 #commit Aug 6 2020
-RUN apt-get update && apt install wget && \
+RUN apt-get update && apt install -y wget && \
     apt-get clean && rm -rf /var/lib/apt/lists/
 RUN git clone https://github.com/laurentkneip/opengv.git && \
     cd opengv && \
@@ -80,13 +91,16 @@ RUN git clone --branch 4.5.4 https://github.com/opencv/opencv.git && \
     rm -rf opencv opencv_contrib
 
 # Will be used to read/store databases on host
-RUN mkdir -p /root/Documents/RTAB-Map
+RUN mkdir -p /root/Documents/RTAB-Map && chmod 777 /root/Documents/RTAB-Map
 
 RUN rm /bin/sh && ln -s /bin/bash /bin/sh
 
 # Copy current source code
 COPY . /root/rtabmap
 
+RUN cp /root/rtabmap/docker/jammy/ros_entrypoint.sh /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/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib/aarch64-linux-gnu
 

docker/jammy/ros_entrypoint.sh

@@ -0,0 +1,6 @@
+#!/bin/bash
+set -e
+
+# setup ros2 environment
+source "/opt/ros/humble/setup.bash" --
+exec "$@"