docker: added foxy-latest

docker/README.md

@@ -2,36 +2,26 @@
 
 * Available images on [introlab3it/rtabmap_ros](https://hub.docker.com/r/introlab3it/rtabmap_ros/):
     ```
-    indigo
-    kinetic
-    melodic, melodic-latest
-    noetic, noetic-latest
+    foxy, foxy-latest
+    humble, humble-latest
     ```
     * The `-latest` images are automatically built from latest version of `rtabmap` and `rtabmap_ros` from source (including GTSAM and libpointmatcher dependencies that are not available with ROS binaries). The other images have the same version than the binaries released on ROS. 
 
 
-* The following example show how to launch a camera on host computer and run our pre-built rtabmap container. All examples from [RGB-D tutorial](http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping) and [stereo tutorial](http://wiki.ros.org/rtabmap_ros/Tutorials/StereoHandHeldMapping) should work using rtabmap from the container instead. Launch camera on host computer (set ROS_IP as the IP used for docker):
-    ```bash
-    $ export ROS_IP=172.17.0.1 && roslaunch openni2_launch openni2.launch depth_registration:=true
-    # In another terminal, launch rtabmapviz or RVIZ. We do visualization 
-    # on host computer to avoid GPU problems with the container (see "with gui" below to launch rtabmapviz from the container):
-    $ export ROS_NAMESPACE=rtabmap && rosrun rtabmap_ros rtabmapviz _frame_id:=camera_link
-    ```
-
 * Launch `rtabmap` from inside the container (**no gui**), saving the database on host `~/.ros/rtabmap.db`:
     ```bash
     $ docker run -it --rm \
-     --env ROS_MASTER_URI=http://172.17.0.1:11311 --env ROS_IP=172.17.0.2 \
+     --network=host \
      -v ~/.ros:/root  \
-     introlab3it/rtabmap_ros:kinetic-latest \
-     roslaunch rtabmap_ros rtabmap.launch rtabmapviz:=false database_path:=/root/rtabmap.db rtabmap_args:="--delete_db_on_start"
+     introlab3it/rtabmap_ros:humble-latest \
+     ros2 launch rtabmap_ros rtabmap.launch.py rtabmapviz:=false database_path:=/root/rtabmap.db rtabmap_args:="--delete_db_on_start"
    ```
    
  * 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](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html), we would have this Dockerfile:
        ```docker
-       FROM introlab3it/rtabmap_ros:humble
+       FROM introlab3it/rtabmap_ros:humble-latest
 
        # nvidia-container-runtime
        ENV NVIDIA_VISIBLE_DEVICES \
@@ -39,7 +29,7 @@
        ENV NVIDIA_DRIVER_CAPABILITIES \
            ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
        ```
-       Building the image and run it:   
+       Building the image and run it:
        ```bash
        $ docker build -t rtabmap_ros3d .
        
@@ -56,6 +46,7 @@
          --env="XAUTHORITY=$XAUTH" \
          --volume="$XAUTH:$XAUTH" \
          --runtime=nvidia \
+         --network=host \
          -v ~/.ros:/root  \
          rtabmap_ros3d \
          ros2 launch rtabmap_ros rtabmap.launch.py database_path:=/root/rtabmap.db rtabmap_args:="--delete_db_on_start"

docker/foxy/latest/Dockerfile

@@ -0,0 +1,14 @@
+FROM introlab3it/rtabmap:focal-foxy
+
+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/foxy --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
+    cd && \
+    rm -rf ros2_ws

docker/foxy/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:foxy-latest  .