Merge branch 'master' of github.com:introlab/rtabmap into gtest

.github/workflows/cmake-linux.yml

@@ -30,15 +30,15 @@ jobs:
         - build_name: ubuntu-22.04
           os: ubuntu-22.04
           extra_deps: "libunwind-dev libceres-dev"
-          extra_cmake_def: "-DWITH_CERES=ON"
+          extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON"
         - build_name: ubuntu-24.04
           os: ubuntu-24.04
           extra_deps: "libg2o-dev libceres-dev"
-          extra_cmake_def: "-DWITH_CERES=ON"
+          extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON"
         - build_name: ubuntu-24.04-with-opengv
           os: ubuntu-24.04
           extra_deps: "libg2o-dev libceres-dev"
-          extra_cmake_def: "-DWITH_CERES=ON -DBUILD_OPENGV=ON"
+          extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON -DBUILD_OPENGV=ON"
 
     steps:
     - uses: actions/checkout@v4
@@ -49,9 +49,19 @@ jobs:
         sudo apt-get update
         sudo apt-get -y install libopencv-dev libpcl-dev git cmake software-properties-common libyaml-cpp-dev ${{ matrix.extra_deps }}
 
+    - name: Set up Python
+      uses: actions/setup-python@v5
+      with:
+        python-version: '3.x'
+
+    - name: Install Python Dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install numpy pybind11
+
     - name: Configure CMake
       run: |
-        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ${{ matrix.extra_cmake_def }}
+        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 }}
 
     - name: Build
       run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}

.github/workflows/cmake-macos.yml

@@ -0,0 +1,83 @@
+name: CMake-MacOS
+
+on:
+  push:
+    branches: 
+      - master
+  pull_request:
+    branches: 
+      - '**'
+
+env:
+  BUILD_TYPE: Release
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
+
+jobs:
+  build:
+    name: ${{ matrix.build_name }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: true
+      matrix:
+        build_name: [macos-sequoia-intel, macos-sequoia-apple-silicon, macos-tahoe-intel, macos-tahoe-apple-silicon]
+        include:
+        - build_name: macos-sequoia-intel
+          os: macos-15-intel
+          extra_deps: ""
+          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON'
+        - build_name: macos-sequoia-apple-silicon
+          os: macos-15
+          extra_deps: ""
+          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON'
+        - build_name: macos-tahoe-intel
+          os: macos-26-intel
+          extra_deps: ""
+          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON'
+        - build_name: macos-tahoe-apple-silicon
+          os: macos-26
+          extra_deps: ""
+          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON'
+
+    steps:
+    - uses: actions/checkout@v4
+
+    - name: Install Brew Dependencies
+      run: |
+        # Update brew and install from Brewfile if present, or specific packages
+        brew install pcl opencv octomap g2o pdal
+
+    - name: Configure CMake
+      run: |
+        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ${{ matrix.extra_cmake_def }}
+
+    - name: Build
+      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
+
+    - name: Info
+      working-directory: ${{github.workspace}}/build/bin
+      run: |
+        ./rtabmap-console --version
+
+#    - name: Build MacOS Package
+#      run: |
+#        cmake --build ${{ github.workspace }}/build --config ${{ env.BUILD_TYPE }} --target package
+
+#    - name: Upload RTABMap Artifacts (DMG)
+#      uses: actions/upload-artifact@v4
+#      with:
+#        name: RTABMap-Binaries-${{ matrix.build_name }}-zip
+#        path: |
+#          build/RTABMap-*.dmg
+#        compression-level: 0
+#        if-no-files-found: warn
+#        retention-days: ${{ github.event_name == 'pull_request' && 1 || 90 }}
+
+#    - name: Test
+#      working-directory: ${{github.workspace}}/build
+#      # Execute tests defined by the CMake configuration.  
+#      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
+#      run: ctest -C ${{env.BUILD_TYPE}}
+      

.github/workflows/cmake-ros.yml

@@ -49,7 +49,7 @@ jobs:
         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 $VERSION_CODENAME)_all.deb"
+        curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${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
 
@@ -59,6 +59,11 @@ jobs:
     
     - uses: actions/checkout@v4
 
+    - name: Point rosdep to latest Rolling on Noble until github runners support ubuntu 26.04
+      if: matrix.ros_distribution == 'rolling'
+      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