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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
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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
@@ -24,11 +17,11 @@
$ 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"
```