Merge pull request #95 from JustinShih0918/feat/rtabmap-docker

Convert `rtabmap-ws` to docker module

Author: j3soon

aloha_ws/docker/Dockerfile

@@ -154,6 +154,13 @@ COPY --chown=$USERNAME:$USERNAME \
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     /tmp/install_cartographer.sh && rm /tmp/install_cartographer.sh
 
+# rtabmap configuration
+ARG RTABMAP=""
+COPY --chown=$USERNAME:$USERNAME \
+     modules/install_rtabmap.sh /tmp/install_rtabmap.sh
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    /tmp/install_rtabmap.sh && rm /tmp/install_rtabmap.sh
+
 # TODO: Add more commands here
 
 # Install udevadm for later use

aloha_ws/docker/compose.yaml

@@ -44,6 +44,8 @@ services:
         # ISAAC_ROS: ""
         # TODO: Set to "YES" if using Cartographer or set to "" if not using Cartographer
         # CARTOGRAPHER: ""
+        # TODO: Set to "YES" if using RTAB-Map or set to "" if not using RTAB-Map
+        # RTABMAP: ""
       cache_from:
         - j3soon/ros2-aloha-ws:buildcache-amd64
         - j3soon/ros2-aloha-ws:buildcache-arm64

delto_gripper_ws/docker/Dockerfile

@@ -154,6 +154,13 @@ COPY --chown=$USERNAME:$USERNAME \
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     /tmp/install_cartographer.sh && rm /tmp/install_cartographer.sh
 
+# rtabmap configuration
+ARG RTABMAP=""
+COPY --chown=$USERNAME:$USERNAME \
+     modules/install_rtabmap.sh /tmp/install_rtabmap.sh
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    /tmp/install_rtabmap.sh && rm /tmp/install_rtabmap.sh
+
 # TODO: Add more commands here
 
 # Install delto gripper dependencies

delto_gripper_ws/docker/compose.yaml

@@ -44,6 +44,8 @@ services:
         # ISAAC_ROS: ""
         # TODO: Set to "YES" if using Cartographer or set to "" if not using Cartographer
         # CARTOGRAPHER: ""
+        # TODO: Set to "YES" if using RTAB-Map or set to "" if not using RTAB-Map
+        # RTABMAP: ""
       cache_from:
         - j3soon/ros2-delto-gripper-ws:buildcache-amd64
         - j3soon/ros2-delto-gripper-ws:buildcache-arm64

docker_modules/install_rtabmap.sh

@@ -0,0 +1,21 @@
+#!/bin/bash
+set -e
+
+if [ -z "$RTABMAP" ]; then
+    echo "Skipping RTAB-Map installation as RTABMAP is not set"
+    exit 0
+fi
+
+# Install RTAB-Map, TurtleBot3 and rqt steering
+# This script is intended to be run inside the Dockerfile during build.
+if [ "$RTABMAP" = "YES" ]; then
+    echo "Installing RTAB-Map and turtlebot3 packages for ROS distro: ${ROS_DISTRO:-humble}"
+    
+    sudo apt-get update && sudo apt-get install -y \
+        ros-${ROS_DISTRO}-rtabmap-ros \
+        ros-${ROS_DISTRO}-turtlebot3* \
+        ros-${ROS_DISTRO}-rqt-robot-steering \
+        && sudo rm -rf /var/lib/apt/lists/*
+fi
+
+echo "RTAB-Map installation completed successfully!"

docs/rtabmap-ws/assets/dual_test.png …ker-modules/assets/rtabmap_dual_test.pngdocs/rtabmap-ws/assets/dual_test.png renamed to docs/docker-modules/assets/rtabmap_dual_test.png docs/rtabmap-ws/assets/dual_test.png renamed to docs/docker-modules/assets/rtabmap_dual_test.png

@@ -1,13 +1,6 @@
 # RTAB-Map
 
-[![GitHub code](https://img.shields.io/badge/code-blue?logo=github&label=github)](https://github.com/j3soon/ros2-essentials/tree/main/rtabmap_ws)
-[![build](https://img.shields.io/github/actions/workflow/status/j3soon/ros2-essentials/build-rtabmap-ws.yaml?label=build)](https://github.com/j3soon/ros2-essentials/actions/workflows/build-rtabmap-ws.yaml)
-[![GitHub last commit](https://img.shields.io/github/last-commit/j3soon/ros2-essentials?path=rtabmap_ws)](https://github.com/j3soon/ros2-essentials/commits/main/rtabmap_ws)
-
-[![DockerHub image](https://img.shields.io/badge/dockerhub-j3soon/ros2--rtabmap--ws-important.svg?logo=docker)](https://hub.docker.com/r/j3soon/ros2-rtabmap-ws/tags)
-![Docker image arch](https://img.shields.io/badge/arch-amd64-blueviolet)
-![Docker image version](https://img.shields.io/docker/v/j3soon/ros2-rtabmap-ws)
-![Docker image size](https://img.shields.io/docker/image-size/j3soon/ros2-rtabmap-ws)
+[![GitHub code](https://img.shields.io/badge/code-blue?logo=github&label=github)](https://github.com/j3soon/ros2-essentials/blob/main/docker_modules/install_rtabmap.sh)
 
 ## 🐳 Start Container
 
@@ -16,7 +9,7 @@
 Run the following commands in a Ubuntu desktop environment. If you are using a remote server, make sure you're using a terminal within a remote desktop session (e.g., VNC) instead of SSH (i.e., don't use `ssh -X` or `ssh -Y`).
 
 ```sh
-cd ~/ros2-essentials/rtabmap_ws/docker
+cd ~/ros2-essentials/template_ws/docker
 docker compose build
 xhost +local:docker
 docker compose up -d
@@ -29,7 +22,7 @@ The commands in the following sections assume that you are inside the Docker con
 
 ```sh
 # in a new terminal
-docker exec -it ros2-rtabmap-ws bash
+docker exec -it ros2-template-ws bash
 ```
 
 If the initial build somehow failed, run:
@@ -82,7 +75,7 @@ docker compose down
 
 - Running in a new `tmux` window
   ```bash
-  rqt_robot_steering
+  ros2 run rqt_robot_steering rqt_robot_steering
   ```
 
 ## Result
@@ -91,15 +84,17 @@ docker compose down
 
 1. LiDAR test
 <center>
-  <img src="./assets/lidar_test.png" width="75%"/>
+  <img src="assets/rtabmap_lidar_test.png" width="75%"/>
 </center>
+
 2. RGBD test
 <center>
-  <img src="./assets/rgbd_test.png" width="75%"/>
+  <img src="assets/rtabmap_rgbd_test.png" width="75%"/>
 </center>
+
 3. Dual sensor test
 <center>
-  <img src="./assets/dual_test.png" width="75%"/>
+  <img src="assets/rtabmap_dual_test.png" width="75%"/>
 </center>
 
 ## Reference
@@ -115,5 +110,5 @@ docker compose down
   ```
   - It seems that the warning isn't a big deal. But it will interrupt debugging in the future.
   - Possible solution : set `VTK_LEGACY_REMOVE`, but it required to build from source.
-      - Still not tested yet.
+    - Still not tested yet.
   - [Issue Reference](https://discourse.vtk.org/t/vtk-9-0-rc1/2916)

docs/rtabmap-ws/assets/lidar_test.png …er-modules/assets/rtabmap_lidar_test.pngdocs/rtabmap-ws/assets/lidar_test.png renamed to docs/docker-modules/assets/rtabmap_lidar_test.png docs/rtabmap-ws/assets/lidar_test.png renamed to docs/docker-modules/assets/rtabmap_lidar_test.png

@@ -206,6 +206,7 @@ nav:
     - docker-modules/index.md
     - docker-modules/ros2.md
     - docker-modules/cartographer.md
+    - docker-modules/rtabmap.md
     - docker-modules/cuda-toolkit.md
     - docker-modules/isaac-sim.md
     - docker-modules/isaac-lab.md
@@ -214,7 +215,6 @@ nav:
     - workspaces/index.md
     - template-ws/index.md
     - orbslam3-ws/index.md
-    - rtabmap-ws/index.md
     - ros1-bridge-ws/index.md
     - husky-ws/index.md
     - kobuki-ws/index.md