FROM introlab3it/rtabmap:22.04

RUN source /ros_entrypoint.sh && \
    mkdir -p ros2_ws/src && \
    cd ros2_ws/src

COPY . ros2_ws/src/rtabmap_ros

RUN source /ros_entrypoint.sh && \
    cd ros2_ws && \
    export MAKEFLAGS="-j1" && \
    rosdep update && \
    rosdep install --from-paths src --ignore-src -r -y && \
    colcon build --event-handlers console_direct+ --install-base /opt/ros/humble --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
    cd && \
    rm -rf ros2_ws