Update Docs

docs/source/docker.rst

@@ -12,15 +12,24 @@ Download docker container
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 On docker hub there are 4 containers with a different tagname :
 
-- ``base`` the base container in which only the dipendences are installed 
+- ``base`` the base container in which only the dipendences are installed
 - ``orbslam2`` a container with only installed the ORB_SLAM2 library
 - ``orbslam3`` a container with only installed the ORB_SLAM3 library
 - ``latest`` a container with installed all the library
 
 for downloading the container you can type ::
-    
+
     docker pull giordanolaminetti/slampy:tagname
 
+
+with the addiction of ``-focal`` after ``tagname`` you can download the builds with ubuntu 20.04 (focal fossa), by default the docker are built over ubuntu 18.04::
+
+  docker pull giordanolaminetti/slampy:latest-focal
+
+with the addiction of ``-ros-noetic`` after ``tagname`` you can download the ubuntu 20.04 (focal fossa) with ros noetic already installed ::
+
+  docker pull giordanolaminetti/slampy:latest-focal
+
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 Build docker container
 ----------------------
@@ -31,19 +40,19 @@ you can also build your own container, with the shell in the root path, typing t
 you can change the image name by replacing ``slampy`` with the desired image name, the ``build args `` can be:
 
 
-- ``base_container`` (String) you can change the base container, by default it is ``ubuntu:18.04``, it can also be used to install multiple algorithm 
-- ``build_dependences`` (Bool) build and install the dependences packages (pangolin, Eigen, Opencv, Python3.8, ...) default ``true`` 
+- ``base_container`` (String) you can change the base container, by default it is ``ubuntu:18.04``, it can also be used to install multiple algorithm
+- ``build_dependences`` (Bool) build and install the dependences packages (pangolin, Eigen, Opencv, Python3.8, ...) default ``true``
 - ``build_orbslam2`` (Bool) build and install ORB_SLAM2 and the Python wrapper  default ``true``
 - ``build_orbslam3`` (Bool) build and install ORB_SLAM3 and the Python wrapper  default ``true``
 
 For example if you want to build only the ORB_SLAM2 package from the base you can type ::
-   
+
     docker build . -t slampy:orbslam2 --build-arg build_dependences=false --build-arg build_orbslam3=false --build-arg base_container=giordanolaminetti/slampy:base
 
 For example if you want to install only ORB_SLAM2 and ORB_SLAM3 you can type ::
 
     docker build . -t slampy:orbslam2+3 --build-arg build_dependences=false --build-arg build_orbslam2=false --build-arg base_container=giordanolaminetti/slampy:orbslam2
-   
+
 ----------------
 Run docker image
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