2023-01-22 16:19:34 -08:00
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FROM introlab3it/rtabmap:22.04
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RUN source /ros_entrypoint.sh && \
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mkdir -p ros2_ws/src && \
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cd ros2_ws/src
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COPY . ros2_ws/src/rtabmap_ros
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RUN source /ros_entrypoint.sh && \
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cd ros2_ws && \
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2023-01-24 09:50:33 -08:00
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export MAKEFLAGS="-j1" && \
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2023-02-26 16:59:25 -08:00
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apt update && apt install -y ros-humble-pcl-ros && \
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2023-01-22 16:19:34 -08:00
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colcon build --event-handlers console_direct+ --install-base /opt/ros/humble --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
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cd && \
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rm -rf ros2_ws
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