Docker: added foxy, humble, humble-latest

.github/workflows/docker-ros2.yml

@@ -0,0 +1,58 @@
+name: docker
+
+on:
+  push:
+    branches:
+      - 'ros2'
+
+jobs:
+  docker:
+    runs-on: ubuntu-latest
+    
+    strategy:
+      matrix:
+        docker_tag: [foxy, humble, humble-latest]
+        include:
+        - docker_tag: foxy
+          docker_path: 'foxy'
+          docker_platforms: |
+            linux/amd64
+        - docker_tag: humble
+          docker_path: 'humble'
+          docker_platforms: |
+            linux/amd64
+        - docker_tag: humble-latest
+          docker_path: 'humble/latest'
+          docker_platforms: |
+            linux/amd64
+    
+    steps:
+      -
+        name: Checkout
+        uses: actions/checkout@v2
+      -
+        name: Set up QEMU
+        uses: docker/setup-qemu-action@v1
+        with:
+          platforms: all
+      -
+        name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v1
+      -
+        name: Login to DockerHub
+        uses: docker/login-action@v1
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+      -
+        name: Build and push
+        uses: docker/build-push-action@v2
+        with:
+          context: .
+          push: true
+          platforms: ${{ matrix.docker_platforms }}
+          file: ./docker/${{ matrix.docker_path }}/Dockerfile
+          tags: introlab3it/rtabmap_ros:${{ matrix.docker_tag }}
+          cache-from: type=registry,ref=introlab3it/rtabmap_ros:${{ matrix.docker_tag }}
+          cache-to: type=inline
+

docker/README.md

@@ -29,9 +29,9 @@
    
  * Launch `rtabmap` from inside the container (**with gui**, if you have a nvidia GPU, follow those [instructions](http://wiki.ros.org/docker/Tutorials/Hardware%20Acceleration#nvidia-docker2) with nvidia-docker2 using one of the images above instead of the ros image example, or for other GPUs try the intel/AMD [instructions](http://wiki.ros.org/action/fullsearch/docker/Tutorials/Hardware%20Acceleration) to build a `rtabmap_ros3d` image with your GPU driver), saving the database on host `~/.ros/rtabmap.db`:
 
-   * With [nvidia-docker2 approach](http://wiki.ros.org/docker/Tutorials/Hardware%20Acceleration#nvidia-docker2), we would have this Dockerfile:
+   * With [nvidia-docker2 approach](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html), we would have this Dockerfile:
        ```docker
-       FROM introlab3it/rtabmap_ros:noetic
+       FROM introlab3it/rtabmap_ros:humble
 
        # nvidia-container-runtime
        ENV NVIDIA_VISIBLE_DEVICES \
@@ -56,8 +56,7 @@
          --env="XAUTHORITY=$XAUTH" \
          --volume="$XAUTH:$XAUTH" \
          --runtime=nvidia \
-         --env ROS_MASTER_URI=http://172.17.0.1:11311 --env ROS_IP=172.17.0.2 \
          -v ~/.ros:/root  \
          rtabmap_ros3d \
-         roslaunch rtabmap_ros rtabmap.launch database_path:=/root/rtabmap.db rtabmap_args:="--delete_db_on_start"
+         ros2 launch rtabmap_ros rtabmap.launch.py database_path:=/root/rtabmap.db rtabmap_args:="--delete_db_on_start"
        ```

docker/foxy/Dockerfile

@@ -0,0 +1,7 @@
+FROM osrf/ros:foxy-desktop
+# install rtabmap packages
+ARG CACHE_DATE=2016-01-01
+RUN apt-get update && apt-get install -y \
+    ros-foxy-rtabmap \
+    ros-foxy-rtabmap-ros \
+    && rm -rf /var/lib/apt/lists/

docker/humble/Dockerfile

@@ -0,0 +1,7 @@
+FROM osrf/ros:humble-desktop
+# install rtabmap packages
+ARG CACHE_DATE=2016-01-01
+RUN apt-get update && apt-get install -y \
+    ros-humble-rtabmap \
+    ros-humble-rtabmap-ros \
+    && rm -rf /var/lib/apt/lists/

docker/humble/latest/Dockerfile

@@ -0,0 +1,14 @@
+FROM introlab3it/rtabmap:22.04
+
+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 && \
+    export MAKEFLAGS="-j$(nproc)" && \
+    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

docker/humble/latest/hooks/build

@@ -0,0 +1,2 @@
+#!/bin/bash 
+docker build --build-arg CACHE_DATE="$(date)" --cache-from $IMAGE_NAME -f $DOCKERFILE_PATH -t $IMAGE_NAME -t $DOCKER_REPO:humble-latest  .