2023-01-22 16:19:34 -08:00
|
|
|
FROM introlab3it/rtabmap:22.04
|
|
|
|
|
|
2023-03-04 17:45:10 -08:00
|
|
|
RUN apt-get update && apt-get install -y \
|
2023-03-04 17:49:59 -08:00
|
|
|
ros-humble-pcl-ros \
|
2023-03-04 17:45:10 -08:00
|
|
|
&& rm -rf /var/lib/apt/lists/
|
|
|
|
|
|
2023-01-22 16:19:34 -08:00
|
|
|
RUN source /ros_entrypoint.sh && \
|
|
|
|
|
mkdir -p ros2_ws/src && \
|
|
|
|
|
cd ros2_ws/src
|
|
|
|
|
|
|
|
|
|
COPY . ros2_ws/src/rtabmap_ros
|
|
|
|
|
|
|
|
|
|
RUN source /ros_entrypoint.sh && \
|
|
|
|
|
cd ros2_ws && \
|
2023-01-24 09:50:33 -08:00
|
|
|
export MAKEFLAGS="-j1" && \
|
2023-02-26 16:59:25 -08:00
|
|
|
apt update && apt install -y ros-humble-pcl-ros && \
|
2023-01-22 16:19:34 -08:00
|
|
|
colcon build --event-handlers console_direct+ --install-base /opt/ros/humble --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
|
|
|
|
|
cd && \
|
|
|
|
|
rm -rf ros2_ws
|
