Docker: added zesty

corelib/include/rtabmap/core/Parameters.h

@@ -310,7 +310,7 @@ class RTABMAP_EXP Parameters
     RTABMAP_PARAM(RGBD, LinearUpdate,             float, 0.1,  "Minimum linear displacement to update the map. Rehearsal is done prior to this, so weights are still updated.");
     RTABMAP_PARAM(RGBD, AngularUpdate,            float, 0.1,  "Minimum angular displacement to update the map. Rehearsal is done prior to this, so weights are still updated.");
     RTABMAP_PARAM(RGBD, NewMapOdomChangeDistance, float, 0,    "A new map is created if a change of odometry translation greater than X m is detected (0 m = disabled).");
-    RTABMAP_PARAM(RGBD, OptimizeFromGraphEnd,     bool, false, "Optimize graph from the newest node. If false, the graph is optimized from the oldest node of the current graph (this adds an overhead computation to detect to oldest mode of the current graph, but it can be useful to preserve the map referential from the oldest node). Warning when set to false: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation).");
+    RTABMAP_PARAM(RGBD, OptimizeFromGraphEnd,     bool, false, "Optimize graph from the newest node. If false, the graph is optimized from the oldest node of the current graph (this adds an overhead computation to detect to oldest node of the current graph, but it can be useful to preserve the map referential from the oldest node). Warning when set to false: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation).");
     RTABMAP_PARAM(RGBD, OptimizeMaxError,         float, 1,    uFormat("Reject loop closures if optimization error is greater than this value (0=disabled). This will help to detect when a wrong loop closure is added to the graph. Not compatible with \"%s\" if enabled.", kOptimizerRobust().c_str()));
     RTABMAP_PARAM(RGBD, GoalReachedRadius,        float, 0.5,  "Goal reached radius (m).");
     RTABMAP_PARAM(RGBD, PlanStuckIterations,      int, 0,      "Mark the current goal node on the path as unreachable if it is not updated after X iterations (0=disabled). If all upcoming nodes on the path are unreachabled, the plan fails.");

docker/zesty/Dockerfile

@@ -0,0 +1,33 @@
+# Image: introlab3it/rtabmap:zesty
+
+FROM ubuntu:17.04
+
+# Install build dependencies
+RUN apt-get update && apt-get install -y \
+      libsqlite3-dev \
+      libpcl-dev \
+      libopencv-dev \
+      git \
+      cmake \
+      libproj-dev \
+      libqt5svg5-dev \
+      software-properties-common
+
+# Issue: http://www.pcl-users.org/Build-failure-on-Ubuntu-17-04-td4044552.html
+RUN sed -i 's|/usr/lib/libmpi.so;||g' /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake
+
+# Clone source code
+WORKDIR /root/
+RUN git clone https://github.com/introlab/rtabmap.git
+
+# Build RTAB-Map project
+RUN cd rtabmap/build && \
+    cmake .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../.. && \
+    rm -rf rtabmap && \
+    ldconfig
+
+WORKDIR /root
+