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Docker: Updated kinetic and melodic images to use less time to build

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matlabbe
2019-11-08 18:53:19 -05:00
parent fb5c425a90
commit cb902f1059
3 changed files with 12 additions and 63 deletions
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docker/README.md
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### 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/
* Available images (https://hub.docker.com/repository/docker/introlab3it/rtabmap_ros):
```
* To build an image with latest rtabmap version from source, use Dockerfile inside one of the `latest` subdirectories.
introlab3it/rtabmap_ros:indigo-latest
introlab3it/rtabmap_ros:kinetic-latest
introlab3it/rtabmap_ros:melodic-latest
```
* Those images are automatically built from latest version of `rtabmap` and `rtabmap_ros` from source.
* Build it:
```bash
$ docker build --tag ros:rtabmap .
```
* 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
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$ 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`:
* 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 \
-v ~/.ros:/root \
ros:rtabmap \
introlab3it/rtabmap_ros:kinetic-latest \
roslaunch rtabmap_ros rtabmap.launch rtabmapviz:=false database_path:=/root/rtabmap.db rtabmap_args:="--delete_db_on_start"
```
docker/kinetic/latest/Dockerfile
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FROM ros:kinetic-perception
# install rtabmap packages
RUN apt-get update && apt-get install -y \
ros-kinetic-rtabmap-ros \
&& apt-get remove -y \
ros-kinetic-rtabmap \
&& rm -rf /var/lib/apt/lists/
RUN rm /bin/sh && ln -s /bin/bash /bin/sh
WORKDIR /root/
FROM introlab3it/rtabmap:16.04
ARG CACHE_DATE=2016-01-01
RUN git clone https://github.com/introlab/rtabmap.git
# Build RTAB-Map project
RUN source /ros_entrypoint.sh && \
cd rtabmap/build && \
cmake .. && \
make -j$(nproc) && \
make install && \
cd ../.. && \
rm -rf rtabmap && \
ldconfig
RUN source /ros_entrypoint.sh && \
mkdir -p catkin_ws/src && \
cd catkin_ws/src && \
catkin_init_workspace && \
git clone https://github.com/introlab/rtabmap_ros.git && \
cd .. && \
catkin_make -DCMAKE_INSTALL_PREFIX=/opt/ros/kinetic install && \
catkin_make -j1 -DCMAKE_INSTALL_PREFIX=/opt/ros/kinetic install && \
cd && \
rm -rf catkin_ws
docker/melodic/latest/Dockerfile
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FROM ros:melodic-perception
# install rtabmap packages
RUN apt-get update && apt-get install -y \
ros-melodic-rtabmap-ros \
&& apt-get remove -y \
ros-melodic-rtabmap \
&& rm -rf /var/lib/apt/lists/
RUN rm /bin/sh && ln -s /bin/bash /bin/sh
WORKDIR /root/
FROM introlab3it/rtabmap:18.04
ARG CACHE_DATE=2016-01-01
RUN git clone https://github.com/introlab/rtabmap.git
# Build RTAB-Map project
RUN source /ros_entrypoint.sh && \
cd rtabmap/build && \
cmake .. && \
make -j$(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 && \
catkin_make -j1 -DCMAKE_INSTALL_PREFIX=/opt/ros/melodic install && \
cd && \
rm -rf catkin_ws