Added MRPT optional dependency. Updated localization_pose + its covariance to be always published.

docker/bionic/Dockerfile

@@ -4,7 +4,7 @@ FROM ros:melodic-perception
 
 # Install build dependencies
 RUN apt-get update && \
-    apt-get install -y git software-properties-common ros-melodic-rtabmap-ros && \
+    apt-get install -y git software-properties-common ros-melodic-rtabmap-ros libmrpt-dev && \
     apt-get remove -y ros-melodic-rtabmap && \
     rm -rf /var/lib/apt/lists/
 
@@ -14,30 +14,6 @@ WORKDIR /root/
 RUN add-apt-repository ppa:borglab/gtsam-release-4.0 -y
 RUN apt install libgtsam-dev libgtsam-unstable-dev -y
 
-# libpointmatcher 
-RUN git clone https://github.com/ethz-asl/libnabo.git
-#commit February 13 2021
-RUN cd libnabo && \
-    git checkout 3cab7eed92bd5d4aed997347b8c8a2692a83a532 && \
-    mkdir build && \
-    cd build && \
-    cmake -DCMAKE_BUILD_TYPE=Release .. && \
-    make -j$(nproc) && \
-    make install && \
-    cd && \
-    rm -r libnabo
-RUN git clone https://github.com/ethz-asl/libpointmatcher.git
-#commit April 6 2021
-RUN cd libpointmatcher && \
-    git checkout 76f99fce0fe69e6384102a0343fdf8d262626e1f && \
-    mkdir build && \
-    cd build && \
-    cmake -DCMAKE_BUILD_TYPE=Release .. && \
-    make -j$(nproc) && \
-    make install && \
-    cd && \
-    rm -r libpointmatcher
-
 ARG TARGETPLATFORM
 ENV TARGETPLATFORM=${TARGETPLATFORM:-linux/amd64}
 RUN echo "I am building for $TARGETPLATFORM"