adding g2o gtsam to linux ci

.github/scripts/ros-deps-env.sh

@@ -0,0 +1,19 @@
+# Puts the graph optimizers taken from the ROS 2 repo (see cmake-linux.yml) on
+# the loader path, for a shell that is about to run something built against
+# them. Sourced, not executed: it exports into the caller.
+#
+#   source .github/scripts/ros-deps-env.sh /opt/ros/humble
+#
+# A missing or empty prefix is a build that took every dependency from the
+# Ubuntu archive: nothing to add.
+#
+# Both directories are needed. GTSAM and g2o install their libraries in the
+# multiarch subdirectory, while the prefix's own lib/ holds the rest, and
+# libgtsam.so carries no RUNPATH -- so the loader finds neither it nor the
+# libmetis-gtsam.so it pulls in without being told where to look.
+ros_prefix="${1:-}"
+if [ -n "$ros_prefix" ] && [ -d "$ros_prefix" ]; then
+  ros_lib="$ros_prefix/lib"
+  export LD_LIBRARY_PATH="${ros_lib}:${ros_lib}/$(gcc -dumpmachine)${LD_LIBRARY_PATH:+:$LD_LIBRARY_PATH}"
+  echo "LD_LIBRARY_PATH=$LD_LIBRARY_PATH"
+fi

.github/workflows/cmake-linux.yml

@@ -28,22 +28,32 @@ jobs:
       matrix:
         build_name: [ubuntu-22.04, ubuntu-24.04, ubuntu-24.04-with-opengv, ubuntu-26.04]
         include:
+        # GTSAM is in no Ubuntu release, and libg2o-dev only appears in the
+        # archive from noble on (jammy has no g2o at all).
         - build_name: ubuntu-22.04
           os: ubuntu-22.04
           extra_deps: "libunwind-dev libceres-dev"
-          extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON"
+          ros_deps: "ros-humble-libg2o ros-humble-gtsam"
+          ros_prefix: "/opt/ros/humble"
+          extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON -DWITH_G2O=ON -DWITH_GTSAM=ON"
         - build_name: ubuntu-24.04
           os: ubuntu-24.04
           extra_deps: "libg2o-dev libceres-dev"
-          extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON"
+          ros_deps: "ros-jazzy-gtsam"
+          ros_prefix: "/opt/ros/jazzy"
+          extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON -DWITH_G2O=ON -DWITH_GTSAM=ON"
         - build_name: ubuntu-24.04-with-opengv
           os: ubuntu-24.04
           extra_deps: "libg2o-dev libceres-dev"
-          extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON -DBUILD_OPENGV=ON"
+          ros_deps: "ros-jazzy-gtsam"
+          ros_prefix: "/opt/ros/jazzy"
+          extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON -DWITH_G2O=ON -DWITH_GTSAM=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"
+          ros_deps: "ros-lyrical-gtsam"
+          ros_prefix: "/opt/ros/lyrical"
+          extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON -DWITH_G2O=ON -DWITH_GTSAM=ON -DBUILD_OPENGV=ON"
 
     steps:
     - uses: actions/checkout@v4
@@ -67,7 +77,19 @@ jobs:
       run: |
         DEBIAN_FRONTEND=noninteractive
         sudo apt-get update
-        sudo apt-get -y install libopencv-dev libpcl-dev git cmake software-properties-common libyaml-cpp-dev ${{ matrix.extra_deps }}
+        sudo apt-get -y install libopencv-dev libpcl-dev git cmake software-properties-common libyaml-cpp-dev curl gnupg lsb-release ${{ matrix.extra_deps }}
+
+    - name: Install Graph Optimizers From The ROS Repo
+      if: matrix.ros_deps != ''
+      env:
+        DEBIAN_FRONTEND: noninteractive
+      run: |
+        sudo curl -fsSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
+          -o /usr/share/keyrings/ros-archive-keyring.gpg
+        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" \
+          | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+        sudo apt-get update
+        sudo apt-get -y install ${{ matrix.ros_deps }}
 
     - name: Set up Python
       uses: actions/setup-python@v5
@@ -81,7 +103,7 @@ jobs:
 
     - name: Configure CMake
       run: |
-        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DPython3_EXECUTABLE=$(which python3) -Dpybind11_DIR=$(python3 -m pybind11 --cmakedir) ${{ matrix.extra_cmake_def }}
+        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DCMAKE_PREFIX_PATH="${{ matrix.ros_prefix }}" -DPython3_EXECUTABLE=$(which python3) -Dpybind11_DIR=$(python3 -m pybind11 --cmakedir) ${{ matrix.extra_cmake_def }}
 
     - name: Build
       run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
@@ -89,6 +111,7 @@ jobs:
     - name: Info
       working-directory: ${{github.workspace}}/build/bin
       run: |
+        source ${{github.workspace}}/.github/scripts/ros-deps-env.sh "${{ matrix.ros_prefix }}"
         ./rtabmap-console --version
 
     - name: Test
@@ -101,4 +124,5 @@ jobs:
       env:
         PYTHONNOUSERSITE: 1
       run: |
+        source ${{github.workspace}}/.github/scripts/ros-deps-env.sh "${{ matrix.ros_prefix }}"
         ctest -C ${{env.BUILD_TYPE}} -V -LE performance