rtabmap_ros

Available images on introlab3it/rtabmap_ros:
```
foxy, foxy-latest
humble, humble-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.

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

$ docker run -it --rm \
 --network=host \
 -v ~/.ros:/root  \
 introlab3it/rtabmap_ros:humble-latest \
 ros2 launch rtabmap_ros rtabmap.launch.py 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:humble-latest

# 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 \
  --network=host \
  -v ~/.ros:/root  \
  rtabmap_ros3d \
  ros2 launch rtabmap_ros rtabmap.launch.py database_path:=/root/rtabmap.db rtabmap_args:="--delete_db_on_start"