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)
Docker
- Go to the wiki for usage examples and how to build locally the images.
Tags
All images are published to introlab3it/rtabmap as
multi-arch manifests (linux/amd64 and linux/arm64).
| Tag | Alias | Base | ROS |
|---|---|---|---|
resolute |
26.04, latest |
Ubuntu 26.04 | ROS2 Lyrical |
noble-kilted |
Ubuntu 24.04 | ROS2 Kilted | |
noble |
24.04 |
Ubuntu 24.04 | ROS2 Jazzy |
jammy |
22.04 |
Ubuntu 22.04 | ROS2 Humble |
focal |
20.04 |
Ubuntu 20.04 | ROS1 Noetic |
Each image is built on top of a matching <tag>-deps image holding the third-party
dependencies, so that a source change only rebuilds the top layer.
Important
latestnow points to the newest ROS2 image (resolute), where it used to point tofocal(ROS1 Noetic). Pullingintrolab3it/rtabmapwithout a tag therefore gets you a different ROS version than before. Useintrolab3it/rtabmap:focalto stay on ROS1, or pin an explicit tag in general rather than relying onlatest.
bionic / 18.04 (ROS1 Melodic) is no longer built; the last published image stays on
Docker Hub but will not be updated. Its Dockerfile is kept in bionic/ for reference.
The <tag>-amd64 / <tag>-arm64 tags are per-architecture build outputs that CI joins into
the manifests above (see .github/workflows/docker-ros.yml);
use the plain tags instead.
Android build environments (android23, android24, android26, android30, tango) are
linux/amd64 only and are built by
.github/workflows/android.yml.