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 GTSAM and libpointmatcher dependencies that are not available with ROS binaries). The other images have the same version than the binaries released on ROS.

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 (see "with gui" below to launch rtabmapviz from the container):
$ export ROS_NAMESPACE=rtabmap && rosrun rtabmap_ros rtabmapviz _frame_id:=camera_link

Launch rtabmap from inside the container (no gui), 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  \
 introlab3it/rtabmap_ros:kinetic-latest \
 roslaunch rtabmap_ros rtabmap.launch rtabmapviz:=false database_path:=/root/rtabmap.db rtabmap_args:="--delete_db_on_start"

Launch rtabmap from inside the container (with gui, if you have a nvidia GPU, follow those instructions with nvidia-docker2 using one of the images above instead of the ros image example, or for other GPUs try the intel/AMD instructions to build a rtabmap_ros3d image with your GPU driver), saving the database on host ~/.ros/rtabmap.db:

With nvidia-docker2 approach, we would have this Dockerfile:

FROM introlab3it/rtabmap_ros:noetic

# nvidia-container-runtime
ENV NVIDIA_VISIBLE_DEVICES \
    ${NVIDIA_VISIBLE_DEVICES:-all}
ENV NVIDIA_DRIVER_CAPABILITIES \
    ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics

Building the image and run it:

$ docker build -t rtabmap_ros3d .

# 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 \
  --env="DISPLAY=$DISPLAY" \
  --env="QT_X11_NO_MITSHM=1" \
  --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
  --env="XAUTHORITY=$XAUTH" \
  --volume="$XAUTH:$XAUTH" \
  --runtime=nvidia \
  --env ROS_MASTER_URI=http://172.17.0.1:11311 --env ROS_IP=172.17.0.2 \
  -v ~/.ros:/root  \
  rtabmap_ros3d \
  roslaunch rtabmap_ros rtabmap.launch database_path:=/root/rtabmap.db rtabmap_args:="--delete_db_on_start"