# Image: introlab3it/rtabmap:focal

FROM ros:noetic-perception

# Install build dependencies
RUN apt-get update && \
    apt-get install -y git software-properties-common ros-noetic-rtabmap-ros && \
    apt-get remove -y ros-noetic-rtabmap && \
    rm -rf /var/lib/apt/lists/

WORKDIR /root/

# GTSAM
RUN add-apt-repository ppa:joseluisblancoc/gtsam-develop -y
RUN apt install libgtsam-dev

# libpointmatcher 
RUN git clone https://github.com/ethz-asl/libnabo.git
#commit Apr 25 2018
RUN cd libnabo && \
    git checkout 7e378f6765393462357b8b74d8dc8c5554542ae6 && \
    mkdir build && \
    cd build && \
    cmake -DCMAKE_BUILD_TYPE=Release .. && \
    make -j$(nproc) && \
    make install && \
    cd && \
    rm -r libnabo
RUN git clone https://github.com/ethz-asl/libpointmatcher.git
#commit Jan 19 2018
RUN cd libpointmatcher && \
    git checkout 00004bd41e44a1cf8de24ad87e4914760717cbcc && \
    mkdir build && \
    cd build && \
    cmake -DCMAKE_BUILD_TYPE=Release .. && \
    make -j$(nproc) && \
    make install && \
    cd && \
    rm -r libpointmatcher

# Clone source code
ARG CACHE_DATE=2016-01-01
RUN git clone https://github.com/introlab/rtabmap.git

RUN rm /bin/sh && ln -s /bin/bash /bin/sh

# Build RTAB-Map project
RUN source /ros_entrypoint.sh && \
    cd rtabmap/build && \
    cmake .. && \
    make && \
    make install && \
    cd ../.. && \
    rm -rf rtabmap && \
    ldconfig