mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
32 lines
1.2 KiB
Docker
32 lines
1.2 KiB
Docker
FROM introlab3it/rtabmap:noble
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RUN source /ros_entrypoint.sh && \
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mkdir -p ros2_ws/src && \
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cd ros2_ws/src
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COPY . ros2_ws/src/rtabmap_ros
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# No rosdep "-r": a bad mirror must fail here.
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RUN source /ros_entrypoint.sh && \
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cd ros2_ws && \
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echo 'Acquire::Retries "5";' > /etc/apt/apt.conf.d/80-retries && \
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rosdep init && \
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rosdep update && \
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apt-get update && \
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rosdep install --from-paths src --ignore-src -y -t build_export -t test -t build -t buildtool_export -t buildtool --skip-keys="rtabmap grid_map_ros" && \
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bash src/rtabmap_ros/docker/verify_deps.sh && \
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apt-get clean && rm -rf /var/lib/apt/lists/
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ARG RUN_TESTS=0
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RUN source /ros_entrypoint.sh && \
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cd ros2_ws && \
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export MAKEFLAGS="-j2" && \
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colcon build --executor sequential --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
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if [ "$RUN_TESTS" = "1" ]; then \
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colcon test --executor sequential --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install && \
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colcon test-result --verbose; \
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fi && \
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cd && \
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rm -rf ros2_ws
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