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

.devcontainer/resolute/Dockerfile

@@ -0,0 +1,25 @@
+FROM introlab3it/rtabmap:resolute-deps
+
+# For devcontainer
+# remove ubuntu user
+RUN touch /var/mail/ubuntu && chown ubuntu /var/mail/ubuntu && userdel -r ubuntu
+
+RUN apt-get update && apt-get install -y sudo && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+ARG USERNAME=vscode
+ARG USER_UID=1000
+ARG USER_GID=1000
+
+RUN set -ex && \
+    groupadd --gid ${USER_GID} ${USERNAME} && \
+    useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} && \
+    usermod -a -G sudo ${USERNAME} && \
+    echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USERNAME} && \
+    chmod 0440 /etc/sudoers.d/${USERNAME}
+
+RUN mkdir -p /home/${USERNAME}/Documents/RTAB-Map && chown -R ${USERNAME} /home/${USERNAME}
+
+RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc
+
+

.devcontainer/resolute/devcontainer.json

@@ -0,0 +1,30 @@
+{
+    "build": {
+      "dockerfile": "Dockerfile"
+    },
+    "customizations": {
+        "vscode": {
+          "extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools", "ms-vscode.cpptools-extension-pack"]
+        }
+      },
+    "workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/rtabmap,type=bind",
+    "workspaceFolder": "/home/vscode/rtabmap",
+    //"mounts": ["source=${localEnv:HOME}/Documents/RTAB-Map,target=/home/vscode/Documents/RTAB-Map,type=bind,consistency=cached"],
+    "settings": {
+      "terminal.integrated.defaultProfile.linux": "bash"
+    },
+    "remoteUser": "vscode",
+    "hostRequirements": {
+        "gpu": "optional"
+    },
+    "runArgs": ["--privileged",
+                "--network=host",
+                "--gpus=all",
+                //"--runtime=nvidia", // uncommment this if rtabmap doesn't show up in nvidia-smi on the host computer
+                "--env=DISPLAY",
+                "--env=QT_X11_NO_MITSHM=1",
+                "--volume=/tmp/.X11-unix:/tmp/.X11-unix"],
+    "containerEnv": {
+        "NVIDIA_VISIBLE_DEVICES": "all"
+    }
+}

.github/workflows/cmake-linux.yml

@@ -22,7 +22,7 @@ jobs:
     strategy:
       fail-fast: true
       matrix:
-        build_name: [ubuntu-22.04, ubuntu-24.04, ubuntu-24.04-with-opengv]
+        build_name: [ubuntu-22.04, ubuntu-24.04, ubuntu-24.04-with-opengv, ubuntu-26.04]
         include:
         - build_name: ubuntu-22.04
           os: ubuntu-22.04
@@ -36,6 +36,10 @@ jobs:
           os: ubuntu-24.04
           extra_deps: "libg2o-dev libceres-dev"
           extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON -DBUILD_OPENGV=ON"
+        - build_name: ubuntu-26.04
+          os: ubuntu-26.04
+          extra_deps: "libg2o-dev libceres-dev"
+          extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON -DBUILD_OPENGV=ON"
 
     steps:
     - uses: actions/checkout@v4

.github/workflows/cmake-ros.yml

@@ -22,62 +22,33 @@ jobs:
     # well on Windows or Mac.  You can convert this to a matrix build if you need
     # cross-platform coverage.
     # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
-    name: ${{ matrix.ros_distribution }}-${{ matrix.os }}
+    name: ${{ matrix.ros_distribution }}
-    runs-on: ${{ matrix.os }}
+    runs-on: ubuntu-latest
     strategy:
       fail-fast: false
       matrix:
-        ros_distribution: [ humble, jazzy, kilted, rolling ]
+        ros_distribution: [ humble, jazzy, kilted, lyrical, rolling]
         include:
         - ros_distribution: 'humble'
-          os: ubuntu-22.04
+          skip_keys: ""
         - ros_distribution: 'jazzy'
-          os: ubuntu-24.04
+          skip_keys: ""
         - ros_distribution: 'kilted'
-          os: ubuntu-24.04
+          skip_keys: ""
+        - ros_distribution: 'lyrical'
+          skip_keys: "libpointmatcher"
         - ros_distribution: 'rolling'
-          os: ubuntu-24.04
+          skip_keys: ""
-
+    container:
+      image: osrf/ros:${{ matrix.ros_distribution }}-desktop-full
     steps:   
-    - name: Setup ROS2
+    - uses: actions/checkout@v4
-      # https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html
-      run: |
-        sudo apt install software-properties-common
-        sudo add-apt-repository universe
-        sudo apt update && sudo apt install curl -y
-        export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}')
-        curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb"
-        sudo apt install /tmp/ros2-apt-source.deb
-        sudo apt update
-
     - uses: ros-tooling/setup-ros@v0.7
       with:
         required-ros-distributions: ${{ matrix.ros_distribution }}
-    
+    - uses: ros-tooling/action-ros-ci@v0.4
-    - uses: actions/checkout@v4
+      with:
-
+        package-name: rtabmap
-    - name: Point rosdep to latest Rolling on Noble until github runners support ubuntu 26.04
+        target-ros2-distro: ${{ matrix.ros_distribution }}
-      if: matrix.ros_distribution == 'rolling'
+        rosdep-skip-keys: "${{ matrix.skip_keys }}"
-      run: |
-        echo "ROSDISTRO_INDEX_URL=https://raw.githubusercontent.com/ros/rosdistro/6527fa694360d609c1491528ed50437bd853af5b/index-v4.yaml" >> $GITHUB_ENV
-
-    - name: Install dependencies
-      run: |
-        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
-        rosdep update
-        rosdep install --from-paths ${{github.workspace}} -y
-
-    - name: Configure CMake
-      run: |
-        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
-        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
-
-    - name: Build
-      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
-
-    - name: Info
-      working-directory: ${{github.workspace}}/build/bin
-      run: |
-        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
-        ./rtabmap-console --version
       

.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
+          push: ${{ github.event_name != 'pull_request' }}
-          platforms: ${{ matrix.docker_platforms }}
+          platforms: ${{ github.event_name == 'pull_request' && 'linux/amd64' || matrix.docker_platforms }}
           file: ./docker/${{ matrix.docker_path }}/Dockerfile
           build-args: |
             ${{ matrix.docker_args }}

CMakeLists.txt

@@ -901,6 +901,9 @@ IF(WITH_OPENGV OR okvis_FOUND)
          set(BUILD_TESTS OFF)
          set(CMAKE_BUILD_TYPE Release)
          set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
+         # OpenGV's CMakeLists.txt declares cmake_minimum_required(VERSION 2.x),
+         # which CMake >= 4.0 (e.g. recent Ubuntu) rejects. Allow it to configure.
+         set(CMAKE_POLICY_VERSION_MINIMUM 3.5)
          # Eigen should have been already added by PCL, just populate the compatible variables
          IF(EIGEN_INCLUDE_DIRS)
             set(EIGEN_INCLUDE_DIRS "${EIGEN_INCLUDE_DIRS}" CACHE PATH "Eigen include dirs" FORCE)

docker/resolute/Dockerfile

@@ -0,0 +1,20 @@
+# Image: introlab3it/rtabmap:resolute
+
+FROM introlab3it/rtabmap:resolute-deps
+
+# Will be used to read/store databases on host
+RUN mkdir -p /root/Documents/RTAB-Map && chmod 777 /root/Documents/RTAB-Map
+
+# Copy current source code
+COPY . /root/rtabmap
+
+# Build RTAB-Map project
+RUN source /ros_entrypoint.sh && \
+    cd rtabmap/build && \
+    cmake -DWITH_OPENGV=ON .. && \
+    make -j4 && \
+    make install && \
+    cd ../.. && \
+    rm -rf rtabmap && \
+    ldconfig
+

docker/resolute/deps/Dockerfile

@@ -0,0 +1,119 @@
+
+# Image: introlab3it/rtabmap:resolute-deps
+
+FROM ubuntu:26.04
+
+ARG TARGETPLATFORM
+ENV TARGETPLATFORM=${TARGETPLATFORM:-linux/amd64}
+RUN echo "I am building for $TARGETPLATFORM"
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install ROS2
+RUN apt update && \
+    apt install software-properties-common -y && \
+    add-apt-repository universe && \
+    apt update && \
+    apt install curl -y && \
+    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+# Install build dependencies
+RUN apt-get update && \
+    apt upgrade -y && \
+    apt-get install -y \
+      git \
+      wget \
+      libtbb-dev \
+      libproj-dev \
+      libpcl-dev \
+      liboctomap-dev \
+      libfreenect-dev \
+      libceres-dev \
+      ros-lyrical-ros-base \
+      ros-dev-tools \
+      ros-lyrical-cv-bridge \
+      ros-lyrical-image-geometry \
+      ros-lyrical-laser-geometry \
+      ros-lyrical-pcl-conversions \
+      ros-lyrical-rviz-common \
+      ros-lyrical-rviz-rendering \
+      ros-lyrical-rviz-default-plugins \
+      ros-lyrical-pcl-ros \
+      ros-lyrical-imu-filter-madgwick \
+      ros-lyrical-image-transport \
+      ros-lyrical-octomap-msgs \
+      ros-lyrical-libg2o \
+      ros-lyrical-gtsam \
+      ros-lyrical-qt-gui-cpp \
+      ros-lyrical-diagnostic-updater && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+WORKDIR /root/
+
+# libfreenect2 
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing libfreenect2..." && \
+    apt-get update && apt-get install -y mesa-utils xserver-xorg-video-all libusb-1.0-0-dev libturbojpeg0-dev libglfw3-dev && \
+    apt-get clean && rm -rf /var/lib/apt/lists/ && \
+    git clone https://github.com/OpenKinect/libfreenect2 && \
+    cd libfreenect2 && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_POLICY_VERSION_MINIMUM=3.5 .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -r libfreenect2; fi
+
+# zed open capture
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing zed-open-capture..." && \
+    apt-get update && apt install -y libusb-1.0-0-dev libhidapi-libusb0 libhidapi-dev wget && \
+    apt-get clean && rm -rf /var/lib/apt/lists/ && \
+    git clone https://github.com/stereolabs/zed-open-capture.git && \
+    cd zed-open-capture && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_POLICY_VERSION_MINIMUM=3.5 .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -r zed-open-capture; fi
+
+# OpenCV with all modules (same version than distro version to avoid conflicts with cv_bridge ros package)
+RUN git clone --branch 4.10.0 https://github.com/opencv/opencv.git && \
+    git clone --branch 4.10.0 https://github.com/opencv/opencv_contrib.git && \
+    cd opencv && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release -DWITH_TBB=ON -DWITH_ADE=OFF -DWITH_OPENMP=ON -DBUILD_opencv_python3=OFF -DBUILD_opencv_python_bindings_generator=OFF -DBUILD_opencv_python_tests=OFF -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF -DOPENCV_ENABLE_NONFREE=ON -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules .. && \
+    make -j4 && \
+    make install && \
+    cd ../.. && \
+    rm -rf opencv opencv_contrib
+
+RUN git clone https://github.com/laurentkneip/opengv.git && \
+    cd opengv && \
+    git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3 && \
+    wget https://gist.githubusercontent.com/matlabbe/a412cf7c4627253874f81a00745a7fbb/raw/accc3acf465d1ffd0304a46b17741f62d4d354ef/opengv_disable_march_native.patch && \
+    git apply opengv_disable_march_native.patch && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=OFF -DCMAKE_POLICY_VERSION_MINIMUM=3.5 .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -r opengv
+
+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/lyrical/setup.bash" --\nexec "$@"' > /ros_entrypoint.sh
+RUN chmod +x /ros_entrypoint.sh
+ENTRYPOINT [ "/ros_entrypoint.sh" ]
+
+# ros2 seems not sourcing by default its multi-arch folders
+ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/lyrical/lib/x86_64-linux-gnu:/opt/ros/lyrical/lib/aarch64-linux-gnu
+
+# for jetson (https://github.com/introlab/rtabmap/issues/776)
+ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/aarch64-linux-gnu/tegra
+

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>rtabmap</name>
-  <version>0.23.5</version>
+  <version>0.23.7</version>
   <description>RTAB-Map's standalone library. RTAB-Map is a RGB-D SLAM approach with real-time constraints.</description>
   <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>