Docker

• Available images on introlab3it/rtabmap_ros:

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

  • The -latest images are automatically built from latest version of rtabmap and rtabmap_ros from source (including 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 \
   --user $UID \
   -e ROS_HOME=/tmp/.ros \
   --network host \
   -v ~/.ros:/tmp/.ros \
   introlab3it/rtabmap_ros:noetic-latest \
   roslaunch rtabmap_launch rtabmap.launch rtabmap_viz:=false database_path:=/tmp/.ros/rtabmap.db rtabmap_args:="--delete_db_on_start"

• Launch rtabmap_viz from inside the container, using nvidia-docker2 approach:

  # 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 \
    -e DISPLAY=$DISPLAY \
    -e QT_X11_NO_MITSHM=1 \
    -e NVIDIA_VISIBLE_DEVICES=all \
    -e NVIDIA_DRIVER_CAPABILITIES=all \
    -e XAUTHORITY=$XAUTH \
    --runtime=nvidia \
    --network host \
    -v $XAUTH:$XAUTH \
    -v /tmp/.X11-unix:/tmp/.X11-unix \
    introlab3it/rtabmap_ros:noetic-latest \
    /bin/bash -c "export ROS_NAMESPACE=rtabmap && rosrun rtabmap_viz rtabmap_viz"