Added Docker file for xenial

docker/Dockerfile

@@ -0,0 +1,21 @@
+FROM ubuntu:16.04
+
+# Install build dependencies
+RUN apt-get update && apt-get install -y \
+      libsqlite3-dev \
+      libpcl-dev \
+      libopencv-dev \
+      git \
+      cmake \
+      libproj-dev \
+      libqt5svg5-dev
+
+# Clone source code
+WORKDIR /root/
+RUN git clone https://github.com/introlab/rtabmap.git
+
+# Build RTAB-Map project
+WORKDIR /root/rtabmap
+RUN cd build && \
+    cmake .. && \
+    make -j$(nproc)

docker/Makefile

@@ -0,0 +1,19 @@
+all: help
+
+help:
+	@echo ""
+	@echo "-- Help Menu"
+	@echo ""
+	@echo "   1. make build  - build images"
+	@echo "   1. make pull   - pull images"
+	@echo "   1. make clean  - remove images"
+	@echo ""
+
+build:
+	@docker build --tag=rtabmap .
+
+pull:
+	@docker pull rtabmap
+
+clean:
+	@docker rmi -f rtabmap