CI: use ubuntu arm runners instead of QEMU (#1771)

* CI: use ubuntu arm runners instead of QEMU

* removed focal deps docker image ci

* run tests in docker ci

* revert temporary test

* trigger ci jobs with modified files

* ldconfig

* arm64 ldconfig order

* No response filtering here: cv::goodFeaturesToTrack() already applies GFTT/QualityLevel, relative to the best corner's measure. Re-applying it as an absolute floor on KeyPoint::response double-filtered (~86% of keypoints ropped on OpenCV 4.5), and dropped *every* keypoint on OpenCV < 4.5, whose GFTTDetector leaves response at 0.

* fixing ExtractXYZCorrespondencesRANSAC ci error

* increased windows timeout (probably caused by gftt fix now extracting more features)

docker/noble-kilted/Dockerfile

@@ -8,11 +8,15 @@ 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=$RUN_TESTS .. && \
     make -j4 && \
+    # ldconfig first: source-installed deps (GTSAM) are not yet in the loader cache.
+    if [ "$RUN_TESTS" = "1" ]; then ldconfig && ctest --output-on-failure -LE "long|performance"; fi && \
     make install && \
     cd ../.. && \
     rm -rf rtabmap && \

docker/noble-kilted/deps/Dockerfile

@@ -118,6 +118,10 @@ RUN git clone https://github.com/laurentkneip/opengv.git && \
     cd && \
     rm -r opengv
 
+# ld.so.conf.d is read in filename order: <arch>-linux-gnu.conf sorts before
+# libc.conf (/usr/local/lib) on arm64, so source builds lose to the distro ones.
+RUN echo /usr/local/lib > /etc/ld.so.conf.d/00-usr-local.conf && ldconfig
+
 RUN rm /bin/sh && ln -s /bin/bash /bin/sh
 
 RUN echo -e '#!/bin/bash\nset -e\n\n# setup ros2 environment\nsource "/opt/ros/kilted/setup.bash" --\nexec "$@"' > /ros_entrypoint.sh