From 4b3b8758caf9fa7ad64d6e8ebf766d92a9447214 Mon Sep 17 00:00:00 2001
From: leddits <siz0001@naver.com>
Date: Fri, 18 Apr 2025 11:38:08 +0900
Subject: [PATCH 1/3] code debug

---
 docker/Dockerfile.base | 3 +++
 scripts/run_dev.sh     | 3 ++-
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/docker/Dockerfile.base b/docker/Dockerfile.base
index 763484b0..d5d1c402 100644
--- a/docker/Dockerfile.base
+++ b/docker/Dockerfile.base
@@ -140,6 +140,7 @@ RUN --mount=type=cache,target=/var/cache/apt \
     python3-opencv=4.5.4+dfsg-9ubuntu4 \
     python3-scipy
 
+
 # Downgrade to setuptools < 70.0.0
 # https://github.com/pypa/setuptools/issues/4483
 RUN python3 -m pip install -U \
@@ -151,6 +152,8 @@ RUN python3 -m pip install -U \
     ninja \
     wheel
 
+RUN python3 -m pip install --upgrade pip setuptools wheel packaging
+
 # Python3 PIP packages
 RUN python3 -m pip install -U \
     argcomplete \
diff --git a/scripts/run_dev.sh b/scripts/run_dev.sh
index 86f08e54..cddff867 100755
--- a/scripts/run_dev.sh
+++ b/scripts/run_dev.sh
@@ -240,7 +240,8 @@ if [[ -n $SSH_AUTH_SOCK ]]; then
 fi
 
 if [[ $PLATFORM == "aarch64" ]]; then
-    DOCKER_ARGS+=("-e NVIDIA_VISIBLE_DEVICES=nvidia.com/gpu=all,nvidia.com/pva=all")
+    # DOCKER_ARGS+=("-e NVIDIA_VISIBLE_DEVICES=nvidia.com/gpu=all,nvidia.com/pva=all")
+    DOCKER_ARGS+=("-e NVIDIA_VISIBLE_DEVICES=all")
     DOCKER_ARGS+=("-v /usr/bin/tegrastats:/usr/bin/tegrastats")
     DOCKER_ARGS+=("-v /tmp/:/tmp/")
     DOCKER_ARGS+=("-v /usr/lib/aarch64-linux-gnu/tegra:/usr/lib/aarch64-linux-gnu/tegra")

From fcf8e720d2166d6d2666b08312d1715b8f54f9ed Mon Sep 17 00:00:00 2001
From: leddits <siz0001@naver.com>
Date: Fri, 18 Apr 2025 11:51:53 +0900
Subject: [PATCH 2/3] check

---
 scripts/run_dev.sh | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/scripts/run_dev.sh b/scripts/run_dev.sh
index cddff867..4597b301 100755
--- a/scripts/run_dev.sh
+++ b/scripts/run_dev.sh
@@ -146,6 +146,8 @@ fi
 
 # Check if all LFS files are in place in the repository where this script is running from.
 cd $ROOT
+ print_info $ROOT
+ git status
 git rev-parse &>/dev/null
 if [[ $? -eq 0 ]]; then
     LFS_FILES_STATUS=$(cd $ISAAC_ROS_DEV_DIR && git lfs ls-files | cut -d ' ' -f2)

From f75a557e2e17ab51ab6dc63095294c6ef4357661 Mon Sep 17 00:00:00 2001
From: leddits <siz0001@naver.com>
Date: Tue, 22 Apr 2025 10:56:22 +0900
Subject: [PATCH 3/3] rtabmap_ros intetration

---
 docker/Dockerfile.base | 27 +++++++++++++++++++++++++++
 scripts/run_dev.sh     | 22 ++++++++++++++++++++--
 2 files changed, 47 insertions(+), 2 deletions(-)

diff --git a/docker/Dockerfile.base b/docker/Dockerfile.base
index d5d1c402..7b62f77a 100644
--- a/docker/Dockerfile.base
+++ b/docker/Dockerfile.base
@@ -428,6 +428,33 @@ RUN apt-get install -y yasm && wget https://ffmpeg.org/releases/ffmpeg-4.4.2.tar
 
 FROM extended-${PLATFORM} AS base
 
+
+
+
+
+# -------- RTAB-Map 설치 (core + ros2) --------
+WORKDIR /tmp
+
+RUN git clone https://github.com/introlab/rtabmap.git && \
+    cd rtabmap && \
+    git checkout master && \
+    rm -rf build && mkdir build && cd build && \
+    cmake .. \
+        -DCMAKE_BUILD_TYPE=Release \
+        -DWITH_CUDA=ON \
+        -DWITH_OPENMP=ON \
+        -DWITH_G2O=ON \
+        -DWITH_PCL=ON && \
+    make -j$(nproc) && make install && ldconfig && \
+    cd /tmp && rm -rf rtabmap
+
+# rtabmap_ros (ROS 2 Humble용) – ros2 브랜치 사용
+RUN mkdir -p /workspaces/isaac_ros-dev/src && \
+    git clone --depth=1 --branch ros2 https://github.com/introlab/rtabmap_ros.git /workspaces/isaac_ros-dev/src/rtabmap_ros
+
+
+
+
 # Install Ceres
 RUN git clone https://github.com/ceres-solver/ceres-solver.git && \
     cd ceres-solver && \
diff --git a/scripts/run_dev.sh b/scripts/run_dev.sh
index 4597b301..ba1aaab5 100755
--- a/scripts/run_dev.sh
+++ b/scripts/run_dev.sh
@@ -146,8 +146,6 @@ fi
 
 # Check if all LFS files are in place in the repository where this script is running from.
 cd $ROOT
- print_info $ROOT
- git status
 git rev-parse &>/dev/null
 if [[ $? -eq 0 ]]; then
     LFS_FILES_STATUS=$(cd $ISAAC_ROS_DEV_DIR && git lfs ls-files | cut -d ' ' -f2)
@@ -194,6 +192,26 @@ if [ "$(docker ps -a --quiet --filter status=running --filter name=$CONTAINER_NA
     print_info "Attaching to running container: $CONTAINER_NAME"
     ISAAC_ROS_WS=$(docker exec $CONTAINER_NAME printenv ISAAC_ROS_WS)
     print_info "Docker workspace: $ISAAC_ROS_WS"
+
+
+
+
+
+    # ✅ rtabmap_ros 자동 colcon 빌드
+    docker exec -u admin $CONTAINER_NAME bash -c "\
+        source /opt/ros/humble/setup.bash && \
+        if [ -d /workspaces/isaac_ros-dev/src/rtabmap_ros ] && [ ! -d /workspaces/isaac_ros-dev/install/rtabmap_ros ]; then \
+            echo '[INFO] rtabmap_ros detected. Building with colcon...'; \
+            cd /workspaces/isaac_ros-dev && \
+            colcon build --symlink-install --cmake-args -DWITH_CUDA=ON; \
+            echo '[INFO] Build finished.'; \
+        fi"
+
+
+
+
+
+
     docker exec -i -t -u admin --workdir $ISAAC_ROS_WS $CONTAINER_NAME /bin/bash $@
     exit 0
 fi