Merge pull request #93 from yuhsiang1117/feat/convert-cartographer_ws

Convert `cartographer_ws` to docker module

Author: j3soon

README.md

@@ -77,6 +77,7 @@ Edit the `build.args` section in the `*_ws/docker/compose.yml` file and rebuild
 | Module | Notes | Default | Maintainer |
 |--------|-------|---------|------------|
 | [ROS2](https://j3soon.github.io/ros2-essentials/docker-modules/ros2/) | ROS2 Humble | ✔️ | [Yu-Zhong Chen](https://github.com/YuZhong-Chen) |
+| [Cartographer](https://j3soon.github.io/ros2-essentials/docker-modules/cartographer/) | Cartographer | ❌ | [Assume Zhan](https://github.com/Assume-Zhan), [@yuhsiang1117](https://github.com/yuhsiang1117) |
 | [CUDA Toolkit](https://j3soon.github.io/ros2-essentials/docker-modules/cuda-toolkit/) | CUDA 12.6 | ❌ | [Johnson Sun](https://github.com/j3soon) |
 | [Isaac Sim](https://j3soon.github.io/ros2-essentials/docker-modules/isaac-sim/) | Isaac Sim 4.5.0 Binary Install | ✔️ | [Johnson Sun](https://github.com/j3soon) |
 | [Isaac Lab](https://j3soon.github.io/ros2-essentials/docker-modules/isaac-lab/) | Isaac Lab 2.1.0 Git Install | ✔️ | [Johnson Sun](https://github.com/j3soon) |

aloha_ws/docker/Dockerfile

@@ -147,6 +147,13 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     git-extras \
     && sudo rm -rf /var/lib/apt/lists/*
 
+# Cartographer configuration
+ARG CARTOGRAPHER=NO
+COPY --chown=$USERNAME:$USERNAME \
+     modules/install_cartographer.sh /tmp/install_cartographer.sh
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    /tmp/install_cartographer.sh && rm /tmp/install_cartographer.sh
+
 # TODO: Add more commands here
 
 # Install udevadm for later use

aloha_ws/docker/compose.yaml

@@ -42,6 +42,8 @@ services:
         # ISAAC_LAB_VERSION: "2.1.0"
         # TODO: Set Isaac ROS to "" if not using Isaac ROS
         # ISAAC_ROS: "YES"
+        # TODO: Set to "YES" if using Cartographer
+        # CARTOGRAPHER: "NO"
       cache_from:
         - j3soon/ros2-aloha-ws:buildcache-amd64
         - j3soon/ros2-aloha-ws:buildcache-arm64