feat: Clean up and Sync rtabmap configuration to all workspaces

j3soon · j3soon · commit f6c2af132eff · 2025-10-27T20:23:36.000+08:00
diff --git a/aloha_ws/docker/Dockerfile b/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
diff --git a/aloha_ws/docker/compose.yaml b/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
diff --git a/delto_gripper_ws/docker/Dockerfile b/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
diff --git a/delto_gripper_ws/docker/compose.yaml b/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
diff --git a/docs/docker-modules/rtabmap.md b/docs/docker-modules/rtabmap.md
@@ -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
 
@@ -117,5 +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)
diff --git a/gazebo_world_ws/docker/Dockerfile b/gazebo_world_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
 COPY --chown=$USERNAME:$USERNAME \
      .bashrc /home/$USERNAME/.bashrc
diff --git a/gazebo_world_ws/docker/compose.yaml b/gazebo_world_ws/docker/compose.yaml
@@ -44,6 +44,8 @@ services:
         # ISAAC_ROS: ""
         # TODO: Set to "YES" if using Cartographer or set to "" if not using Cartographer
         # CARTOGRAPHER: ""
+        # TODO: Set to "YES" if using RTAB-Map or set to "" if not using RTAB-Map
+        # RTABMAP: ""
       cache_from:
         - j3soon/ros2-gazebo-world-ws:buildcache-amd64
         - j3soon/ros2-gazebo-world-ws:buildcache-arm64
diff --git a/go2_ws/docker/Dockerfile b/go2_ws/docker/Dockerfile
@@ -154,6 +154,13 @@ COPY --chown=$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 ros packages
diff --git a/go2_ws/docker/compose.yaml b/go2_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-go2-ws:buildcache-amd64
         - j3soon/ros2-go2-ws:buildcache-arm64
diff --git a/h1_ws/docker/Dockerfile b/h1_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
 COPY --chown=$USERNAME:$USERNAME \
      .bashrc /home/$USERNAME/.bashrc
diff --git a/h1_ws/docker/compose.yaml b/h1_ws/docker/compose.yaml
@@ -44,6 +44,8 @@ services:
         # ISAAC_ROS: ""
         # TODO: Set to "YES" if using Cartographer or set to "" if not using Cartographer
         # CARTOGRAPHER: ""
+        # TODO: Set to "YES" if using RTAB-Map or set to "" if not using RTAB-Map
+        # RTABMAP: ""
       cache_from:
         - j3soon/ros2-h1-ws:buildcache-amd64
         - j3soon/ros2-h1-ws:buildcache-arm64
diff --git a/husky_ws/docker/Dockerfile b/husky_ws/docker/Dockerfile
@@ -154,6 +154,13 @@ COPY --chown=$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
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     sudo apt-get update && sudo apt-get install -y \
diff --git a/husky_ws/docker/compose.yaml b/husky_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-husky-ws:buildcache-amd64
         - j3soon/ros2-husky-ws:buildcache-arm64
diff --git a/kobuki_ws/docker/Dockerfile b/kobuki_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
 RUN if [ "$TARGETARCH" = "arm64" ]; then \
         # Fix the issue of Eigen
diff --git a/kobuki_ws/docker/compose.yaml b/kobuki_ws/docker/compose.yaml
@@ -44,6 +44,8 @@ services:
         # ISAAC_ROS: ""
         # TODO: Set to "YES" if using Cartographer or set to "" if not using Cartographer
         # CARTOGRAPHER: ""
+        # TODO: Set to "YES" if using RTAB-Map or set to "" if not using RTAB-Map
+        # RTABMAP: ""
       cache_from:
         - j3soon/ros2-kobuki-ws:buildcache-amd64
         - j3soon/ros2-kobuki-ws:buildcache-arm64
diff --git a/orbslam3_ws/docker/Dockerfile b/orbslam3_ws/docker/Dockerfile
@@ -154,6 +154,13 @@ COPY --chown=$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
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     sudo apt-get update && sudo apt-get install -y \
diff --git a/orbslam3_ws/docker/compose.yaml b/orbslam3_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-orbslam3-ws:buildcache-amd64
         - j3soon/ros2-orbslam3-ws:buildcache-arm64
diff --git a/tests/diff_base/docker/Dockerfile b/tests/diff_base/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
 {PLACEHOLDER_MULTILINE}
 COPY --chown=$USERNAME:$USERNAME \
diff --git a/tests/diff_base/docker/compose.yaml b/tests/diff_base/docker/compose.yaml
@@ -44,6 +44,8 @@ services:
         # ISAAC_ROS: ""
         # TODO: Set to "YES" if using Cartographer or set to "" if not using Cartographer
         {PLACEHOLDER_#}CARTOGRAPHER: "{PLACEHOLDER}"
+        # TODO: Set to "YES" if using RTAB-Map or set to "" if not using RTAB-Map
+        {PLACEHOLDER_#}RTABMAP: "{PLACEHOLDER}"
       cache_from:
         - j3soon/ros2-{PLACEHOLDER}-ws:buildcache-amd64
         - j3soon/ros2-{PLACEHOLDER}-ws:buildcache-arm64
diff --git a/turtlebot3_ws/docker/Dockerfile b/turtlebot3_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 TurtleBot3 dependencies
diff --git a/turtlebot3_ws/docker/compose.yaml b/turtlebot3_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-turtlebot3-ws:buildcache-amd64
         - j3soon/ros2-turtlebot3-ws:buildcache-arm64
diff --git a/vlp_ws/docker/Dockerfile b/vlp_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 ROS2 and Gazebo simulation packages when using `amd64` platform
diff --git a/vlp_ws/docker/compose.yaml b/vlp_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-vlp-ws:buildcache-amd64
         - j3soon/ros2-vlp-ws:buildcache-arm64
