rtabmap_ros/docker

Docker

• Available images on introlab3it/rtabmap_ros:

  indigo, indigo-latest
  kinetic, kinetic-latest
  melodic, melodic-latest
  

  • The -latest images are automatically built from latest version of rtabmap and rtabmap_ros from source. The other images are 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:
  $ 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"