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matlabbe
16fb2f0541
* CI: use ubuntu arm runners instead of QEMU * removed focal deps docker image ci * run tests in docker ci * revert temporary test * trigger ci jobs with modified files * ldconfig * arm64 ldconfig order * No response filtering here: cv::goodFeaturesToTrack() already applies GFTT/QualityLevel, relative to the best corner's measure. Re-applying it as an absolute floor on KeyPoint::response double-filtered (~86% of keypoints ropped on OpenCV 4.5), and dropped *every* keypoint on OpenCV < 4.5, whose GFTTDetector leaves response at 0. * fixing ExtractXYZCorrespondencesRANSAC ci error * increased windows timeout (probably caused by gftt fix now extracting more features)
37 lines
1.7 KiB
Markdown
37 lines
1.7 KiB
Markdown
### Docker
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* Go to the [wiki](https://github.com/introlab/rtabmap/wiki/Installation#docker) for usage examples and how to build locally the images.
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#### Tags
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All images are published to [introlab3it/rtabmap](https://hub.docker.com/r/introlab3it/rtabmap) as
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multi-arch manifests (`linux/amd64` and `linux/arm64`).
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| Tag | Alias | Base | ROS |
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| --- | --- | --- | --- |
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| `resolute` | `26.04`, `latest` | Ubuntu 26.04 | ROS2 Lyrical |
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| `noble-kilted` | | Ubuntu 24.04 | ROS2 Kilted |
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| `noble` | `24.04` | Ubuntu 24.04 | ROS2 Jazzy |
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| `jammy` | `22.04` | Ubuntu 22.04 | ROS2 Humble |
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| `focal` | `20.04` | Ubuntu 20.04 | ROS1 Noetic |
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Each image is built on top of a matching `<tag>-deps` image holding the third-party
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dependencies, so that a source change only rebuilds the top layer.
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> [!IMPORTANT]
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> **`latest` now points to the newest ROS2 image** (`resolute`), where it used to point
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> to `focal` (ROS1 Noetic). Pulling `introlab3it/rtabmap` without a tag therefore gets you
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> a different ROS version than before. Use `introlab3it/rtabmap:focal` to stay on ROS1, or
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> pin an explicit tag in general rather than relying on `latest`.
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`bionic` / `18.04` (ROS1 Melodic) is no longer built; the last published image stays on
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Docker Hub but will not be updated. Its Dockerfile is kept in [bionic/](bionic) for reference.
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The `<tag>-amd64` / `<tag>-arm64` tags are per-architecture build outputs that CI joins into
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the manifests above (see [.github/workflows/docker-ros.yml](../.github/workflows/docker-ros.yml));
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use the plain tags instead.
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Android build environments (`android23`, `android24`, `android26`, `android30`, `tango`) are
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`linux/amd64` only and are built by
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[.github/workflows/android.yml](../.github/workflows/android.yml).
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