rtabmap_ros/docker

Docker

• Create rtabmap image (example with melodic) from this 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:

  $ 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 and stereo tutorial should work using rtabmap from the container instead. Launch camera on host computer (set ROS_IP as the IP used for docker):

  $ 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:

  $ 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"