mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-06 10:07:47 +08:00
74 lines
2.2 KiB
Docker
74 lines
2.2 KiB
Docker
# Image: introlab3it/rtabmap:bionic
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FROM ros:melodic-perception
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# Install build dependencies
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RUN apt-get update && \
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apt-get install -y git software-properties-common ros-melodic-rtabmap-ros && \
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apt-get remove -y ros-melodic-rtabmap && \
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rm -rf /var/lib/apt/lists/
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WORKDIR /root/
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# GTSAM
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RUN add-apt-repository ppa:borglab/gtsam-release-4.0 -y
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RUN apt install libgtsam-dev libgtsam-unstable-dev -y
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# libpointmatcher
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RUN git clone https://github.com/ethz-asl/libnabo.git
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#commit February 13 2021
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RUN cd libnabo && \
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git checkout 3cab7eed92bd5d4aed997347b8c8a2692a83a532 && \
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mkdir build && \
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cd build && \
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cmake -DCMAKE_BUILD_TYPE=Release .. && \
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make -j$(nproc) && \
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make install && \
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cd && \
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rm -r libnabo
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RUN git clone https://github.com/ethz-asl/libpointmatcher.git
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#commit April 6 2021
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RUN cd libpointmatcher && \
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git checkout 76f99fce0fe69e6384102a0343fdf8d262626e1f && \
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mkdir build && \
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cd build && \
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cmake -DCMAKE_BUILD_TYPE=Release .. && \
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make -j$(nproc) && \
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make install && \
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cd && \
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rm -r libpointmatcher
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ARG TARGETPLATFORM
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ENV TARGETPLATFORM=${TARGETPLATFORM:-linux/amd64}
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RUN echo "I am building for $TARGETPLATFORM"
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# cmake >=3.11 required for amd64 dependencies
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RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then apt install -y wget && \
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wget -nv https://github.com/Kitware/CMake/releases/download/v3.17.0/cmake-3.17.0-Linux-x86_64.tar.gz && \
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tar -xzf cmake-3.17.0-Linux-x86_64.tar.gz && \
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rm cmake-3.17.0-Linux-x86_64.tar.gz &&\
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ln -s ~/cmake-3.17.0-Linux-x86_64/bin/cmake ~/cmake; fi
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# amd64-only dependencies
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ADD amd64.bash /root/amd64.bash
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RUN chmod +x amd64.bash
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RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then /bin/bash -c "./amd64.bash"; fi
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RUN if [ "$TARGETPLATFORM" = "linux/arm64" ]; then ln -s /usr/bin/cmake ~/cmake; fi
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# Clone source code
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ARG CACHE_DATE=2016-01-01
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RUN git clone https://github.com/introlab/rtabmap.git
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RUN rm /bin/sh && ln -s /bin/bash /bin/sh
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# Build RTAB-Map project
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RUN source /ros_entrypoint.sh && \
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cd rtabmap/build && \
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~/cmake -DWITH_ALICE_VISION=ON .. && \
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make -j2 && \
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make install && \
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cd ../.. && \
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rm -rf rtabmap && \
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ldconfig
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