Lyrical support (#1433)

* Lyrical support

* removed dep not available on lyrical

* updated docker lyrcical

* making cmake less verbose, disabled tests on rtabmap_python

* cleanup not used tests in rtabmap_python

* addressing some lyrical deprecated warnings

* cancel pr jobs on recommit

* small refactor

* disabled lyrical bin docker

* restored python test and fixed error

* trigger ci

* fixing docker lyrical

* disabled rtabmap_ros lyrical

* pytest

* fixing packages-skip

* bump 0.23.7

.devcontainer/lyrical/Dockerfile

@@ -0,0 +1,22 @@
+
+FROM introlab3it/rtabmap:resolute
+
+# remove ubuntu user
+RUN touch /var/mail/ubuntu && chown ubuntu /var/mail/ubuntu && userdel -r ubuntu
+
+ARG USERNAME=vscode
+ARG USER_UID=1000
+ARG USER_GID=1000
+
+RUN set -ex && \
+    groupadd --gid ${USER_GID} ${USERNAME} && \
+    useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} && \
+    usermod -a -G sudo ${USERNAME} && \
+    echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USERNAME} && \
+    chmod 0440 /etc/sudoers.d/${USERNAME}
+
+RUN mkdir -p /home/${USERNAME}/ros2_ws/src && \
+    chown -R ${USERNAME}:${USERNAME} /home/${USERNAME}/ros2_ws
+
+RUN echo "source /opt/ros/lyrical/setup.bash" >> /home/${USERNAME}/.bashrc
+RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc

.devcontainer/lyrical/devcontainer.json

@@ -0,0 +1,39 @@
+{
+    "build": {
+      "dockerfile": "Dockerfile",
+      "pull": true
+    },
+    "remoteUser": "vscode",
+    "customizations": {
+        "vscode": {
+          "extensions": [
+            "ms-vscode.cpptools-themes",
+            "ms-vscode.cmake-tools", 
+            "ms-vscode.cpptools-extension-pack",
+            "ms-azuretools.vscode-docker",
+            "ms-python.python"]
+        }
+      },
+    "settings": {
+      "python.autoComplete.extraPaths": [
+        "/opt/ros/kilted/lib/python3/dist-packages"
+      ],
+      "terminal.integrated.defaultProfile.linux": "bash"
+    },
+    "workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/ros2_ws/src/rtabmap_ros,type=bind",
+    "workspaceFolder": "/home/vscode/ros2_ws",
+    "postCreateCommand": "sudo rosdep init && rosdep update && sudo apt update && rosdep install --from-paths ~/ros2_ws/src/rtabmap_ros -i --skip-keys=\"rtabmap nav2_msgs grid_map_ros nav2_costmap_2d nav2_bringup realsense2_camera velodyne\" -y && echo 'Initialize: export MAKEFLAGS=\"-j6\" && colcon build --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release --parallel-workers 2'",
+    "hostRequirements": {
+        "gpu": "optional"
+    },
+    "runArgs": ["--privileged",
+                "--network=host",
+                "--gpus=all",
+                //"--runtime=nvidia", // uncommment this if rtabmap doesn't show up in nvidia-smi on the host computer
+                "--env=DISPLAY",
+                "--env=QT_X11_NO_MITSHM=1",
+                "--volume=/tmp/.X11-unix:/tmp/.X11-unix"],
+    "containerEnv": {
+        "NVIDIA_VISIBLE_DEVICES": "all"
+    }
+}