mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
57 lines
1.4 KiB
Docker
57 lines
1.4 KiB
Docker
# 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
|
|
|