From 3a64224f57d984144f992c1e2f31eee9b4342622 Mon Sep 17 00:00:00 2001
From: hari-robotics <211106370@qq.com>
Date: Fri, 23 May 2025 15:53:09 +0200
Subject: [PATCH] branched for adding cartographer_ros

---
 docker/Dockerfile | 59 ++++++++++++++++++++++++++++++++++++++++++++++-
 1 file changed, 58 insertions(+), 1 deletion(-)

diff --git a/docker/Dockerfile b/docker/Dockerfile
index 5e707af..623539f 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -15,18 +15,75 @@ RUN apt-get update && \
 RUN apt-get update && \
     apt-get install -y net-tools iproute2 ros-noetic-plotjuggler* ros-noetic-foxglove-bridge ros-noetic-turtlesim* gedit    
 
+# Install additional dependencies for Cartographer
+RUN apt-get install -y \
+    clang \
+    cmake \
+    g++ \
+    git \
+    google-mock \
+    libboost-all-dev \
+    libcairo2-dev \
+    libceres-dev \
+    libcurl4-openssl-dev \
+    libeigen3-dev \
+    libgflags-dev \
+    libgoogle-glog-dev \
+    liblua5.2-dev \
+    libsuitesparse-dev \
+    lsb-release \
+    ninja-build \
+    python3-sphinx \
+    stow libgmock-dev protobuf-compiler \
+    python3-wstool python3-rosdep wget
+
 # Create a non-root user named 'robotics' with home directory
 RUN useradd -m -s /bin/bash robotics && \
     mkdir -p /home/robotics/data && \
     mkdir -p /home/robotics/catkin_ws/src && \
     chown -R robotics:robotics /home/robotics
 
+# Install Cartographer ROS
+ARG CARTOGRAPHER_VERSION=master
+ARG CARTOGRAPHER_SHA=LATEST
+RUN mkdir -p catkin_ws/src
+RUN git clone https://github.com/cartographer-project/cartographer_ros.git
+RUN mv cartographer_ros/cartographer_ros_msgs catkin_ws/src && \
+    mv cartographer_ros/cartographer_rviz catkin_ws/src && \
+    mv cartographer_ros/cartographer_ros catkin_ws/src
+RUN CARTOGRAPHER_SHA=$CARTOGRAPHER_SHA \
+    CARTOGRAPHER_VERSION=$CARTOGRAPHER_VERSION \
+    cartographer_ros/scripts/prepare_catkin_workspace.sh && \
+    sed -i -e "s%<depend>libabsl-dev</depend>%<\!--<depend>libabsl-dev</depend>-->%g" catkin_ws/src/cartographer/package.xml
+RUN cartographer_ros/scripts/install_debs.sh
+RUN /catkin_ws/src/cartographer/scripts/install_abseil.sh
+RUN cartographer_ros/scripts/install.sh --pkg cartographer && \
+    cartographer_ros/scripts/install.sh --pkg cartographer --make-args test
+RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs && \
+    cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs \
+        --catkin-make-args run_tests && \
+    cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros_msgs
+RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros && \
+    cartographer_ros/scripts/install.sh --pkg cartographer_ros \
+        --catkin-make-args run_tests && \
+    cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros
+RUN cartographer_ros/scripts/install.sh --pkg cartographer_rviz && \
+    cartographer_ros/scripts/install.sh --pkg cartographer_rviz \
+        --catkin-make-args run_tests && \
+    cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_rviz
+RUN rm -rf /var/lib/apt/lists/*
+# A BTRFS bug may prevent us from cleaning up these directories.
+# https://btrfs.wiki.kernel.org/index.php/Problem_FAQ#I_cannot_delete_an_empty_directory
+RUN rm -rf cartographer_ros catkin_ws || true
+
 # Switch to the robotics user
 USER robotics
 WORKDIR /home/robotics
 
 # Source ROS environment for the user
-RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc && echo "source /home/robotics/catkin_ws/devel/setup.bash" >> ~/.bashrc
+RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc && \
+    echo "source /home/robotics/catkin_ws/devel/setup.bash" >> ~/.bashrc && \
+    echo "source /opt/cartographer_ros/setup.bash" >> ~/.bashrc
 
 # Default command
 CMD ["bash"]