CI Ubuntu 26.04 / ROS2 Lyrical and Rolling (#1716)

* CI Ubuntu 26.04 / ROS2 Lyrical and Rolling

* Added resolute docker

* added skip keys

* rolling

* Disabling rolling

* Updated ci config

* Enabling docker build (no push) on PR

* cancel pr jobs on recommit

* Added resolute to docker ci matrix

* OpenGV min cmake version

* bump package.xml version

* enabling rolling

* refactored cmake ros ci jobs

.github/workflows/docker.yml

@@ -4,6 +4,13 @@ on:
   push:
     branches:
       - 'master'
+  pull_request:
+    branches:
+      - '**'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
 
 jobs:
   docker_deps:
@@ -15,14 +22,15 @@ jobs:
     #    $ sudo apt-get upgrade qemu-user-static
     #    $ docker run --rm --privileged multiarch/qemu-user-static --reset -p yes -c yes
     # More info: https://github.com/introlab/rtabmap/issues/1454
-    # if: false
+    # Skipped on pull requests; built and pushed only on push to master.
+    if: github.event_name != 'pull_request'
 
     runs-on: ubuntu-latest
     
     strategy:
       fail-fast: false
       matrix:
-        docker_tag: [focal-deps, jammy-deps, noble-deps, noble-kilted-deps]
+        docker_tag: [focal-deps, jammy-deps, noble-deps, noble-kilted-deps, resolute-deps]
         include:
         - docker_tag: focal-deps
           docker_tags: |
@@ -52,6 +60,13 @@ jobs:
             linux/amd64
             linux/arm64
           docker_path: 'noble-kilted/deps'
+        - docker_tag: resolute-deps
+          docker_tags: |
+            introlab3it/rtabmap:resolute-deps
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+          docker_path: 'resolute/deps'
     
     steps:
       -
@@ -85,12 +100,14 @@ jobs:
   
   docker:
     needs: docker_deps
+    # Run even when docker_deps is skipped (it is, on pull requests).
+    if: ${{ !cancelled() && !failure() }}
     runs-on: ubuntu-latest
     
     strategy:
       fail-fast: false
       matrix:
-        docker_tag: [bionic, focal, jammy, noble, noble-kilted, android23, android24, android26, android30]
+        docker_tag: [bionic, focal, jammy, noble, noble-kilted, resolute, android23, android24, android26, android30]
         include:
         - docker_tag: bionic
           docker_tags: |
@@ -142,6 +159,16 @@ jobs:
             linux/amd64
             linux/arm64
           docker_path: 'noble-kilted'
+        - docker_tag: resolute
+          docker_tags: |
+            introlab3it/rtabmap:resolute
+            introlab3it/rtabmap:26.04
+          docker_args: |
+            NOT_USED=0
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+          docker_path: 'resolute'
         - docker_tag: android23
           docker_tags: |
             introlab3it/rtabmap:android23
@@ -190,6 +217,9 @@ jobs:
         uses: docker/setup-buildx-action@v3
       -
         name: Login to DockerHub
+        # Only needed when pushing; skipped on pull requests (secrets are
+        # unavailable for fork PRs and we don't push there anyway).
+        if: github.event_name != 'pull_request'
         uses: docker/login-action@v3
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
@@ -199,8 +229,8 @@ jobs:
         uses: docker/build-push-action@v6
         with:
           context: .
-          push: true
-          platforms: ${{ matrix.docker_platforms }}
+          push: ${{ github.event_name != 'pull_request' }}
+          platforms: ${{ github.event_name == 'pull_request' && 'linux/amd64' || matrix.docker_platforms }}
           file: ./docker/${{ matrix.docker_path }}/Dockerfile
           build-args: |
             ${{ matrix.docker_args }}