From 045a1bad23aaafdbfcb64926fdbd81973c124b7a Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Mon, 21 Sep 2026 19:22:11 -0700
Subject: [PATCH] run tests in docker ci

---
 .dockerignore                    | 8 ++++++++
 .github/workflows/docker-ros.yml | 2 ++
 docker/focal/Dockerfile          | 5 ++++-
 docker/jammy/Dockerfile          | 5 ++++-
 docker/noble-kilted/Dockerfile   | 5 ++++-
 docker/noble/Dockerfile          | 5 ++++-
 docker/resolute/Dockerfile       | 5 ++++-
 7 files changed, 30 insertions(+), 5 deletions(-)

diff --git a/.dockerignore b/.dockerignore
index 1badba74..08902f6d 100644
--- a/.dockerignore
+++ b/.dockerignore
@@ -1,2 +1,10 @@
 build/*
 build_*
+
+data/tests/*.db
+data/tests/*.7z
+data/tests/*.zip
+data/tests/*.pt
+data/tests/*.pth
+data/tests/*.py
+data/tests/__pycache__/
diff --git a/.github/workflows/docker-ros.yml b/.github/workflows/docker-ros.yml
index 05b8307f..0afa2621 100644
--- a/.github/workflows/docker-ros.yml
+++ b/.github/workflows/docker-ros.yml
@@ -170,6 +170,8 @@ jobs:
           push: ${{ github.event_name != 'pull_request' }}
           platforms: ${{ matrix.docker_platform }}
           file: ./docker/${{ matrix.docker_dir }}/Dockerfile
+          build-args: |
+            RUN_TESTS=1
           tags: introlab3it/rtabmap:${{ matrix.docker_dir }}-${{ matrix.arch }}
           cache-from: type=registry,ref=introlab3it/rtabmap:${{ matrix.docker_dir }}-${{ matrix.arch }}
           cache-to: type=inline
diff --git a/docker/focal/Dockerfile b/docker/focal/Dockerfile
index d6a3e866..06cc5490 100644
--- a/docker/focal/Dockerfile
+++ b/docker/focal/Dockerfile
@@ -8,11 +8,14 @@ RUN mkdir -p /root/Documents/RTAB-Map && chmod 777 /root/Documents/RTAB-Map
 # Copy current source code
 COPY . /root/rtabmap
 
+ARG RUN_TESTS=0
+
 # Build RTAB-Map project
 RUN source /ros_entrypoint.sh && \
     cd rtabmap/build && \
-    cmake -DWITH_ALICE_VISION=ON -DWITH_OPENGV=ON .. && \
+    cmake -DWITH_ALICE_VISION=ON -DWITH_OPENGV=ON -DBUILD_TESTING=$RUN_TESTS .. && \
     make -j4 && \
+    if [ "$RUN_TESTS" = "1" ]; then ctest --output-on-failure -LE "long|performance"; fi && \
     make install && \
     cd ../.. && \
     rm -rf rtabmap && \
diff --git a/docker/jammy/Dockerfile b/docker/jammy/Dockerfile
index c28543ec..731a88e1 100644
--- a/docker/jammy/Dockerfile
+++ b/docker/jammy/Dockerfile
@@ -8,11 +8,14 @@ RUN mkdir -p /root/Documents/RTAB-Map && chmod 777 /root/Documents/RTAB-Map
 # Copy current source code
 COPY . /root/rtabmap
 
+ARG RUN_TESTS=0
+
 # Build RTAB-Map project
 RUN source /ros_entrypoint.sh && \
     cd rtabmap/build && \
-    cmake -DWITH_OPENGV=ON .. && \
+    cmake -DWITH_OPENGV=ON -DBUILD_TESTING=$RUN_TESTS .. && \
     make -j4 && \
+    if [ "$RUN_TESTS" = "1" ]; then ctest --output-on-failure -LE "long|performance"; fi && \
     make install && \
     cd ../.. && \
     rm -rf rtabmap && \
diff --git a/docker/noble-kilted/Dockerfile b/docker/noble-kilted/Dockerfile
index 5c6a955a..2d3059d6 100644
--- a/docker/noble-kilted/Dockerfile
+++ b/docker/noble-kilted/Dockerfile
@@ -8,11 +8,14 @@ RUN mkdir -p /root/Documents/RTAB-Map && chmod 777 /root/Documents/RTAB-Map
 # Copy current source code
 COPY . /root/rtabmap
 
+ARG RUN_TESTS=0
+
 # Build RTAB-Map project
 RUN source /ros_entrypoint.sh && \
     cd rtabmap/build && \
-    cmake -DWITH_OPENGV=ON .. && \
+    cmake -DWITH_OPENGV=ON -DBUILD_TESTING=$RUN_TESTS .. && \
     make -j4 && \
+    if [ "$RUN_TESTS" = "1" ]; then ctest --output-on-failure -LE "long|performance"; fi && \
     make install && \
     cd ../.. && \
     rm -rf rtabmap && \
diff --git a/docker/noble/Dockerfile b/docker/noble/Dockerfile
index 88d9e042..3b119c53 100644
--- a/docker/noble/Dockerfile
+++ b/docker/noble/Dockerfile
@@ -8,11 +8,14 @@ RUN mkdir -p /root/Documents/RTAB-Map && chmod 777 /root/Documents/RTAB-Map
 # Copy current source code
 COPY . /root/rtabmap
 
+ARG RUN_TESTS=0
+
 # Build RTAB-Map project
 RUN source /ros_entrypoint.sh && \
     cd rtabmap/build && \
-    cmake -DWITH_OPENGV=ON .. && \
+    cmake -DWITH_OPENGV=ON -DBUILD_TESTING=$RUN_TESTS .. && \
     make -j4 && \
+    if [ "$RUN_TESTS" = "1" ]; then ctest --output-on-failure -LE "long|performance"; fi && \
     make install && \
     cd ../.. && \
     rm -rf rtabmap && \
diff --git a/docker/resolute/Dockerfile b/docker/resolute/Dockerfile
index 8e043f61..f5f9bda9 100644
--- a/docker/resolute/Dockerfile
+++ b/docker/resolute/Dockerfile
@@ -8,11 +8,14 @@ RUN mkdir -p /root/Documents/RTAB-Map && chmod 777 /root/Documents/RTAB-Map
 # Copy current source code
 COPY . /root/rtabmap
 
+ARG RUN_TESTS=0
+
 # Build RTAB-Map project
 RUN source /ros_entrypoint.sh && \
     cd rtabmap/build && \
-    cmake -DWITH_OPENGV=ON .. && \
+    cmake -DWITH_OPENGV=ON -DBUILD_TESTING=$RUN_TESTS .. && \
     make -j4 && \
+    if [ "$RUN_TESTS" = "1" ]; then ctest --output-on-failure -LE "long|performance"; fi && \
     make install && \
     cd ../.. && \
     rm -rf rtabmap && \