CI: added kilted, re-enabled deps, removed all nproc variables

2026-09-02 01:20:25 +08:00 · 2025-06-01 18:36:36 -07:00
parent 6d4e8a4173
commit 7b69bf6696
13 changed files with 216 additions and 40 deletions
--- a/docker/bionic/Dockerfile
+++ b/docker/bionic/Dockerfile
@@ -46,7 +46,7 @@ RUN git clone https://github.com/laurentkneip/opengv.git && \
    mkdir build && \
    cd build && \
    ~/cmake -DCMAKE_BUILD_TYPE=Release .. && \
-    make -j$(nproc) && \
+    make -j4 && \
    make install && \
    cd && \
    rm -r opengv
@@ -63,7 +63,7 @@ COPY . /root/rtabmap
 RUN source /ros_entrypoint.sh && \
    cd rtabmap/build && \
    ~/cmake -DWITH_OPENGV=ON .. && \
-    make -j$(nproc) && \
+    make -j4 && \
    make install && \
    cd ../.. && \
    rm -rf rtabmap && \
--- a/docker/focal/Dockerfile
+++ b/docker/focal/Dockerfile
@@ -13,7 +13,7 @@ RUN git clone https://github.com/laurentkneip/opengv.git && \
    mkdir build && \
    cd build && \
    cmake -DCMAKE_BUILD_TYPE=Release .. && \
-    make -j$(nproc) && \
+    make -j4 && \
    make install && \
    cd && \
    rm -r opengv
@@ -28,7 +28,7 @@ COPY . /root/rtabmap
 RUN source /ros_entrypoint.sh && \
    cd rtabmap/build && \
    cmake -DWITH_ALICE_VISION=ON -DWITH_OPENGV=ON .. && \
-    make -j$(nproc) && \
+    make -j4 && \
    make install && \
    cd ../.. && \
    rm -rf rtabmap && \
--- a/docker/focal/deps/Dockerfile
+++ b/docker/focal/deps/Dockerfile
@@ -29,7 +29,7 @@ RUN if [ "$TARGETPLATFORM" = "linux/arm/v7" ]; then \
    export CFLAGS="-D_FILE_OFFSET_BITS=64" && \
    export CXXFLAGS="-D_FILE_OFFSET_BITS=64" && \
    ./bootstrap && \
-    make -j$(nproc) && \
+    make -j4 && \
    sudo make install && \
    cd .. && \
    cmake --version && \
@@ -84,7 +84,7 @@ RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing libfreenect2
    mkdir build && \
    cd build && \
    cmake .. && \
-    make -j$(nproc) && \
+    make -j4 && \
    make install && \
    cd && \
    rm -r libfreenect2; fi
@@ -98,7 +98,7 @@ RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing zed-open-cap
    mkdir build && \
    cd build && \
    cmake .. && \
-    make -j$(nproc) && \
+    make -j4 && \
    make install && \
    cd && \
    rm -r zed-open-capture; fi
@@ -117,7 +117,7 @@ RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then git clone https://github.com/
    mkdir build && \
    cd build && \
    cmake -DUSE_PYTHON=OFF -DOIIO_BUILD_TESTS=OFF -DOIIO_BUILD_TOOLS=OFF .. && \
-    make -j$(nproc) && \
+    make -j4 && \
    make install && \
    cd && \
    rm -r oiio; fi
@@ -127,7 +127,7 @@ RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then git clone https://github.com/
    mkdir build && \
    cd build && \
    cmake .. && \
-    make -j$(nproc) && \
+    make -j4 && \
    make install && \
    cd && \
    rm -r assimp; fi
@@ -140,7 +140,7 @@ RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then git clone https://github.com/
    git apply geogram_8b2ae61.patch && \
    ./configure.sh && \
    cd build/Linux64-gcc-dynamic-Release && \
-    make -j$(nproc) && \
+    make -j4 && \
    make install && \
    cd && \
    rm -r geogram; fi
@@ -153,7 +153,7 @@ RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then git clone https://github.com/
    mkdir build && \
    cd build && \
    cmake -DALICEVISION_USE_CUDA=OFF -DALICEVISION_USE_APRILTAG=OFF -DALICEVISION_BUILD_SOFTWARE=OFF .. && \
-    make -j$(nproc) && \
+    make -j4 && \
    make install && \
    cd && \
    rm -r AliceVision; fi
@@ -164,7 +164,7 @@ RUN git clone --branch 4.2.0 https://github.com/opencv/opencv.git && \
    mkdir build && \
    cd build && \
    cmake -DWITH_TBB=ON -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 -DWITH_VTK=OFF -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules .. && \
-    make -j$(nproc) && \
+    make -j4 && \
    make install && \
    cd ../.. && \
    rm -rf opencv opencv_contrib
--- a/docker/jammy/Dockerfile
+++ b/docker/jammy/Dockerfile
@@ -12,7 +12,7 @@ COPY . /root/rtabmap
 RUN source /ros_entrypoint.sh && \
    cd rtabmap/build && \
    cmake -DWITH_OPENGV=ON .. && \
-    make -j$(nproc) && \
+    make -j4 && \
    make install && \
    cd ../.. && \
    rm -rf rtabmap && \
--- a/docker/jammy/deps/Dockerfile
+++ b/docker/jammy/deps/Dockerfile
@@ -49,7 +49,7 @@ RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing libfreenect2
    mkdir build && \
    cd build && \
    cmake .. && \
-    make -j$(nproc) && \
+    make -j4 && \
    make install && \
    cd && \
    rm -r libfreenect2; fi
@@ -63,7 +63,7 @@ RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing zed-open-cap
    mkdir build && \
    cd build && \
    cmake .. && \
-    make -j$(nproc) && \
+    make -j4 && \
    make install && \
    cd && \
    rm -r zed-open-capture; fi
@@ -74,7 +74,7 @@ RUN git clone --branch 4.5.4 https://github.com/opencv/opencv.git && \
    mkdir build && \
    cd build && \
    cmake -DWITH_TBB=ON -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 -j$(nproc) && \
+    make -j4 && \
    make install && \
    cd ../.. && \
    rm -rf opencv opencv_contrib
@@ -90,7 +90,7 @@ RUN git clone https://github.com/laurentkneip/opengv.git && \
    mkdir build && \
    cd build && \
    cmake -DCMAKE_BUILD_TYPE=Release .. && \
-    make -j$(nproc) && \
+    make -j4 && \
    make install && \
    cd && \
    rm -r opengv
--- a/docker/noble-kilted/Dockerfile
+++ b/docker/noble-kilted/Dockerfile
@@ -0,0 +1,34 @@
+# Image: introlab3it/rtabmap:noble-kilted
+
+FROM introlab3it/rtabmap:noble-kilted-deps
+
+# OpenGV (issue seg fault on my computer, moved here from noble-deps to be built on ci)
+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 .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -r opengv
+
+# 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
+
--- a/docker/noble-kilted/deps/Dockerfile
+++ b/docker/noble-kilted/deps/Dockerfile
@@ -0,0 +1,120 @@
+# Image: introlab3it/rtabmap:noble-kilted-deps
+
+FROM ubuntu:24.04
+
+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 $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+# Install build dependencies
+RUN apt-get update && \
+    apt upgrade -y && \
+    apt-get install -y \
+      git \
+      wget \
+      libtbb-dev \
+      libproj-dev \
+      libpcl-dev \
+      liboctomap-dev \
+      libfreenect-dev \
+      ros-kilted-ros-base \
+      ros-dev-tools \
+      ros-kilted-cv-bridge \
+      ros-kilted-image-geometry \
+      ros-kilted-laser-geometry \
+      ros-kilted-pcl-conversions \
+      ros-kilted-rviz-common \
+      ros-kilted-rviz-rendering \
+      ros-kilted-rviz-default-plugins \
+      ros-kilted-pcl-ros \
+      ros-kilted-imu-filter-madgwick \
+      ros-kilted-velodyne \
+      ros-kilted-image-transport \
+      ros-kilted-octomap-msgs \
+      ros-kilted-libg2o \
+      ros-kilted-libpointmatcher \
+      ros-kilted-qt-gui-cpp \
+      ros-kilted-diagnostic-updater && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+WORKDIR /root/
+
+# GTSAM (we cannot use ros-kilted-gtsam on Noble because it is linked to a different internal Eigen version than system one)
+RUN git clone https://github.com/borglab/gtsam.git && \
+    cd gtsam && \
+    git checkout 4.2.0 && \ 
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -r gtsam
+
+# libfreenect2 
+RUN if [ "$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 .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -r libfreenect2; fi
+
+# zed open capture
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing zed-open-capture..." && \
+    apt-get update && apt install -y libusb-1.0-0-dev libhidapi-libusb0 libhidapi-dev wget && \
+    apt-get clean && rm -rf /var/lib/apt/lists/ && \
+    git clone https://github.com/stereolabs/zed-open-capture.git && \
+    cd zed-open-capture && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -r zed-open-capture; fi
+
+# OpenCV with all modules (same version than distro version to avoid conflicts with cv_bridge ros package)
+COPY ./docker/noble/deps/opencv_4_6_0_ffmpeg.patch .
+RUN git clone --branch 4.6.0 https://github.com/opencv/opencv.git && \
+    git clone --branch 4.6.0 https://github.com/opencv/opencv_contrib.git && \
+    mv opencv_4_6_0_ffmpeg.patch opencv/. && \
+    cd opencv && \
+    git apply opencv_4_6_0_ffmpeg.patch && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release -DWITH_TBB=ON -DWITH_ADE=OFF -DWITH_OPENMP=ON -DBUILD_opencv_python3=OFF -DBUILD_opencv_python_bindings_generator=OFF -DBUILD_opencv_python_tests=OFF -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF -DOPENCV_ENABLE_NONFREE=ON -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules .. && \
+    make -j4 && \
+    make install && \
+    cd ../.. && \
+    rm -rf opencv opencv_contrib
+
+RUN rm /bin/sh && ln -s /bin/bash /bin/sh
+
+COPY ./docker/noble/deps/ros_entrypoint.sh /ros_entrypoint.sh
+RUN chmod +x /ros_entrypoint.sh
+ENTRYPOINT [ "/ros_entrypoint.sh" ]
+
+# ros2 seems not sourcing by default its multi-arch folders
+ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/kilted/lib/x86_64-linux-gnu:/opt/ros/kilted/lib/aarch64-linux-gnu
+
+# for jetson (https://github.com/introlab/rtabmap/issues/776)
+ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/aarch64-linux-gnu/tegra
+
--- a/docker/noble-kilted/deps/opencv_4_6_0_ffmpeg.patch
+++ b/docker/noble-kilted/deps/opencv_4_6_0_ffmpeg.patch
@@ -0,0 +1,12 @@
+diff --git a/modules/videoio/src/ffmpeg_codecs.hpp b/modules/videoio/src/ffmpeg_codecs.hpp
+index 61788e0345..faad2596ed 100644
+--- a/modules/videoio/src/ffmpeg_codecs.hpp
+++ b/modules/videoio/src/ffmpeg_codecs.hpp
+@@ -60,6 +60,7 @@ extern "C" {
+ #include <errno.h>
+ #endif
+ 
+#include <libavcodec/version.h>
+ #include <libavformat/avformat.h>
+ 
+ #ifdef __cplusplus
--- a/docker/noble-kilted/deps/ros_entrypoint.sh
+++ b/docker/noble-kilted/deps/ros_entrypoint.sh
@@ -0,0 +1,6 @@
+#!/bin/bash
+set -e
+
+# setup ros2 environment
+source "/opt/ros/kilted/setup.bash" --
+exec "$@"
--- a/docker/noble/Dockerfile
+++ b/docker/noble/Dockerfile
@@ -11,7 +11,7 @@ RUN git clone https://github.com/laurentkneip/opengv.git && \
    mkdir build && \
    cd build && \
    cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=OFF .. && \
-    make -j$(nproc) && \
+    make -j4 && \
    make install && \
    cd && \
    rm -r opengv
@@ -26,7 +26,7 @@ COPY . /root/rtabmap
 RUN source /ros_entrypoint.sh && \
    cd rtabmap/build && \
    cmake -DWITH_OPENGV=ON .. && \
-    make -j$(nproc) && \
+    make -j4 && \
    make install && \
    cd ../.. && \
    rm -rf rtabmap && \
--- a/docker/noble/deps/Dockerfile
+++ b/docker/noble/deps/Dockerfile
@@ -58,7 +58,7 @@ RUN git clone https://github.com/borglab/gtsam.git && \
    mkdir build && \
    cd build && \
    cmake -DCMAKE_BUILD_TYPE=Release -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON .. && \
-    make -j$(nproc) && \
+    make -j4 && \
    make install && \
    cd && \
    rm -r gtsam
@@ -72,7 +72,7 @@ RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing libfreenect2
    mkdir build && \
    cd build && \
    cmake -DCMAKE_BUILD_TYPE=Release .. && \
-    make -j$(nproc) && \
+    make -j4 && \
    make install && \
    cd && \
    rm -r libfreenect2; fi
@@ -86,7 +86,7 @@ RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing zed-open-cap
    mkdir build && \
    cd build && \
    cmake -DCMAKE_BUILD_TYPE=Release .. && \
-    make -j$(nproc) && \
+    make -j4 && \
    make install && \
    cd && \
    rm -r zed-open-capture; fi
@@ -101,7 +101,7 @@ RUN git clone --branch 4.6.0 https://github.com/opencv/opencv.git && \
    mkdir build && \
    cd build && \
    cmake -DCMAKE_BUILD_TYPE=Release -DWITH_TBB=ON -DWITH_ADE=OFF -DWITH_OPENMP=ON -DBUILD_opencv_python3=OFF -DBUILD_opencv_python_bindings_generator=OFF -DBUILD_opencv_python_tests=OFF -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF -DOPENCV_ENABLE_NONFREE=ON -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules .. && \
-    make -j$(nproc) && \
+    make -j4 && \
    make install && \
    cd ../.. && \
    rm -rf opencv opencv_contrib