rtabmap_ros

Available images on introlab3it/rtabmap_ros:
```
indigo
kinetic
melodic, melodic-latest
noetic, noetic-latest
```
- The -latest images are automatically built from latest version of rtabmap and rtabmap_ros from source (including dependencies that are not available with ROS binaries). The other images have the same version than the binaries released on ROS.

Launch rtabmap from inside the container (no gui), saving the database on host ~/.ros/rtabmap.db:

docker run -it --rm \
 --user $UID \
 -e ROS_HOME=/tmp/.ros \
 --network host \
 -v ~/.ros:/tmp/.ros \
 introlab3it/rtabmap_ros:noetic-latest \
 roslaunch rtabmap_launch rtabmap.launch rtabmap_viz:=false database_path:=/tmp/.ros/rtabmap.db rtabmap_args:="--delete_db_on_start"

Launch rtabmap_viz from inside the container, using nvidia-docker2 approach:

# those following 3 lines would need to be done only one time
XAUTH=/tmp/.docker.xauth
touch $XAUTH
xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -

docker run -it --rm \
  --privileged \
  -e DISPLAY=$DISPLAY \
  -e QT_X11_NO_MITSHM=1 \
  -e NVIDIA_VISIBLE_DEVICES=all \
  -e NVIDIA_DRIVER_CAPABILITIES=all \
  -e XAUTHORITY=$XAUTH \
  --runtime=nvidia \
  --network host \
  -v $XAUTH:$XAUTH \
  -v /tmp/.X11-unix:/tmp/.X11-unix \
  introlab3it/rtabmap_ros:noetic-latest \
  /bin/bash -c "export ROS_NAMESPACE=rtabmap && rosrun rtabmap_viz rtabmap_viz"