Added docker examples. rtabmapviz: Fixed empty cloud warnings when not subscribing to any topics.

README.md

@@ -47,36 +47,7 @@ $ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/kinetic/lib/x86_64-linux-gnu
 
 ### Docker
 
-* Install rtabmap inside an official ros docker image (example with melodic):
-    ```bash
-    $ docker pull ros:melodic-perception
-    $ docker run -it --rm --name=ros-melodic-rtabmap ros:melodic-perception
-    
-    # Indide the container:
-    $ apt update && apt install -y ros-melodic-rtabmap-ros && echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
-    
-    # Before exiting the container, commit from another terminal on host:
-    $ docker commit ros-melodic-rtabmap ros:melodic-rtabmap
-    # exit container...
-    ```
-    * Note that we could build rtabmap from source in the container if we want latest version, following instructions below. Just make sure to do "`echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc`" in the container so that the following example can still work as is.
-
-* The following example show 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:
-    $ export ROS_NAMESPACE=rtabmap && rosrun rtabmap_ros rtabmapviz _frame_id:=camera_link
-    ```
-
-* Launch rtabmap from inside the container, 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 \
-     -v ~/.ros:/root  \
-     ros:melodic-rtabmap \
-     roslaunch rtabmap_ros rtabmap.launch rtabmapviz:=false database_path:=/root/rtabmap.db rtabmap_args:="--delete_db_on_start"
-   ```
+* Go to [docker](https://github.com/introlab/rtabmap_ros/tree/master/docker) directory for an example.
 
 
 ## Build from source

docker/README.md

@@ -0,0 +1,34 @@
+### Docker
+
+* Create rtabmap image (example with melodic) from this Dockerfile:
+    ```dockerfile
+    FROM ros:melodic-perception
+    # install rtabmap packages
+    RUN apt-get update && apt-get install -y \
+        ros-melodic-rtabmap \
+        ros-melodic-rtabmap-ros \
+        && rm -rf /var/lib/apt/lists/
+    ```
+    * To build an image with latest rtabmap version from source, use Dockerfile inside one of the `latest` subdirectories.
+
+* Build it:
+    ```bash
+    $ docker build --tag ros:rtabmap .
+    ```
+
+* The following example show 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:
+    $ export ROS_NAMESPACE=rtabmap && rosrun rtabmap_ros rtabmapviz _frame_id:=camera_link
+    ```
+
+* Launch rtabmap from inside the container, 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 \
+     -v ~/.ros:/root  \
+     ros:rtabmap \
+     roslaunch rtabmap_ros rtabmap.launch rtabmapviz:=false database_path:=/root/rtabmap.db rtabmap_args:="--delete_db_on_start"
+   ```

docker/melodic/Dockerfile

@@ -0,0 +1,6 @@
+FROM ros:melodic-perception
+# install rtabmap packages
+RUN apt-get update && apt-get install -y \
+    ros-melodic-rtabmap \
+    ros-melodic-rtabmap-ros \
+    && rm -rf /var/lib/apt/lists/

docker/melodic/latest/Dockerfile

@@ -0,0 +1,33 @@
+FROM ros:melodic-perception
+# install rtabmap packages
+RUN apt-get update && apt-get install -y \
+    ros-melodic-rtabmap-ros \
+    && apt-get remove -y \
+    ros-melodic-rtabmap \
+    && rm -rf /var/lib/apt/lists/
+
+RUN rm /bin/sh && ln -s /bin/bash /bin/sh
+
+WORKDIR /root/
+
+RUN git clone https://github.com/introlab/rtabmap.git
+
+# Build RTAB-Map project
+RUN source /ros_entrypoint.sh && \
+    cd rtabmap/build && \
+    cmake .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../.. && \
+    rm -rf rtabmap && \
+    ldconfig
+
+RUN source /ros_entrypoint.sh && \
+    mkdir -p catkin_ws/src && \
+    cd catkin_ws/src && \
+    catkin_init_workspace && \
+    git clone https://github.com/introlab/rtabmap_ros.git && \
+    cd .. && \
+    catkin_make -DCMAKE_INSTALL_PREFIX=/opt/ros/melodic install && \
+    cd && \
+    rm -rf catkin_ws

src/GuiWrapper.cpp

@@ -937,8 +937,8 @@ void GuiWrapper::commonOdomCallback(
 		return;
 	}
 
-	cv::Mat rgb = cv::Mat::zeros(2,1,CV_8UC1);
-	cv::Mat depth = cv::Mat::zeros(2,1,CV_16UC1);
+	cv::Mat rgb;
+	cv::Mat depth;
 	CameraModel model(
 			1,
 			1,