From 575946957bfcc6c60a172349e9ab8ad270cbb137 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Sat, 5 Aug 2023 14:45:59 -0700
Subject: [PATCH] Added iron dockerfile

---
 docker/iron/Dockerfile        |  7 +++++++
 docker/iron/latest/Dockerfile | 19 +++++++++++++++++++
 2 files changed, 26 insertions(+)
 create mode 100644 docker/iron/Dockerfile
 create mode 100644 docker/iron/latest/Dockerfile

diff --git a/docker/iron/Dockerfile b/docker/iron/Dockerfile
new file mode 100644
index 000000000..e92f22f2e
--- /dev/null
+++ b/docker/iron/Dockerfile
@@ -0,0 +1,7 @@
+FROM osrf/ros:iron-desktop
+# install rtabmap packages
+ARG CACHE_DATE=2016-01-01
+RUN apt-get update && apt-get install -y \
+    ros-iron-rtabmap \
+    ros-iron-rtabmap-ros \
+    && rm -rf /var/lib/apt/lists/
diff --git a/docker/iron/latest/Dockerfile b/docker/iron/latest/Dockerfile
new file mode 100644
index 000000000..b295b7557
--- /dev/null
+++ b/docker/iron/latest/Dockerfile
@@ -0,0 +1,19 @@
+FROM introlab3it/rtabmap:jammy-iron
+
+RUN apt-get update && apt-get install -y \
+    ros-iron-pcl-ros \
+    && rm -rf /var/lib/apt/lists/
+
+RUN source /ros_entrypoint.sh && \
+    mkdir -p ros2_ws/src && \
+    cd ros2_ws/src
+
+COPY . ros2_ws/src/rtabmap_ros
+
+RUN source /ros_entrypoint.sh && \
+    cd ros2_ws && \
+    export MAKEFLAGS="-j1" && \
+    apt update && apt install -y ros-iron-pcl-ros && \
+    colcon build --event-handlers console_direct+ --install-base /opt/ros/iron --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
+    cd && \
+    rm -rf ros2_ws