Merge branch 'master' of github.com:introlab/rtabmap into jazzy-devel

.github/workflows/cmake-ros.yml

@@ -4,43 +4,111 @@ on:
   push:
     branches: 
       - jazzy-devel
+    paths-ignore: &platform_only
+      - '.github/workflows/android.yml'
+      - '.github/workflows/ios.yml'
+      - 'app/android/**'
+      - 'app/ios/**'
+      - 'docker/noble/android/**'
   pull_request:
-    branches: 
+    branches:
       - '**'
+    paths-ignore: *platform_only
+  workflow_dispatch:
 
 env:
-  # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
   BUILD_TYPE: Release
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
-  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
+  cancel-in-progress: true
 
 jobs:
   build:
-    # The CMake configure and build commands are platform agnostic and should work equally
-    # 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 }}
+    name: ${{ matrix.ros_distribution }}${{ matrix.use_ros2_testing && '-testing' || '' }}
     runs-on: ubuntu-latest
+    concurrency:
+      group: ${{ github.workflow }}-${{ github.ref }}-${{ matrix.ros_distribution }}-${{ matrix.use_ros2_testing }}
+      cancel-in-progress: true
     strategy:
       fail-fast: false
       matrix:
-        ros_distribution: [ jazzy]
+        ros_distribution: [ jazzy ]
+        # Build against both main (what users install) and ros2-testing (closest to
+        # what the buildfarm builds bloom releases against).
+        use_ros2_testing: [ false, true ]
         include:
         - ros_distribution: 'jazzy'
-          skip_keys: ""
+          skip_keys: "" # When releasing to ROS2, the skip_keys should be empty, patch these deps in package.xml instead.
     container:
       image: osrf/ros:${{ matrix.ros_distribution }}-desktop-full
-    steps:   
+    steps:
     - uses: actions/checkout@v4
+
+    - name: Restore test data
+      id: cache-testdata
+      uses: actions/cache@v4
+      with:
+        path: data/tests/*.db
+        key: testdata-${{ hashFiles('data/tests/manifest.txt') }}
+
+    - name: Fetch test data
+      if: steps.cache-testdata.outputs.cache-hit != 'true'
+      shell: bash
+      run: |
+        # The ROS images are slim; fetch_test_data.sh needs curl, and 7-Zip for
+        # the assets that come as an archive. The package holding it is
+        # p7zip-full up to Ubuntu 24.04 and 7zip on the newer ones.
+        command -v curl >/dev/null || (apt-get update && apt-get install -y --no-install-recommends curl)
+        command -v 7z >/dev/null || command -v 7zz >/dev/null || (apt-get update && \
+          (apt-get install -y --no-install-recommends p7zip-full || \
+           apt-get install -y --no-install-recommends 7zip))
+        bash scripts/fetch_test_data.sh
+
+    # `${{ github.workspace }}` is expanded by the runner on the *host*
+    # (/home/runner/work/...), but this job runs in a container where the runner
+    # bind-mounts that directory somewhere else (/__w/...). Baking the host path
+    # into RTABMAP_TEST_DATA_ROOT points every data-driven test at a directory
+    # that does not exist in the container: the integration tests silently skip
+    # and the ones that imread() committed fixtures abort outright.
+    #
+    # Resolve the path inside the container instead. A `run` step's cwd is the
+    # checkout root -- the same assumption the relative `scripts/...` and
+    # `data/tests/*.db` paths in the steps above already rely on -- so derive it
+    # from $PWD rather than trusting a path computed outside the container. The
+    # existence checks then turn that into a verified precondition: a wrong
+    # mount point or a failed fetch fails here, with the path printed, instead
+    # of degrading into skipped tests.
+    - name: Resolve test data root in the container
+      id: testdata
+      shell: bash
+      run: |
+        root="$PWD/data"
+        test -f "$root/samples/17.jpg" || { echo "::error::test data root $root is missing committed fixtures"; exit 1; }
+        ls "$root"/tests/*.db >/dev/null || { echo "::error::no test databases in $root/tests"; exit 1; }
+        echo "root=$root" >> "$GITHUB_OUTPUT"
+
+    # The osrf/ros image ships ros2-apt-source (main), which conflicts with the
+    # ros2-testing-apt-source package setup-ros tries to install. Remove it so
+    # setup-ros can switch the image to the testing repo.
+    - name: Remove ROS main apt source
+      if: matrix.use_ros2_testing
+      run: dpkg --purge ros2-apt-source
+
     - uses: ros-tooling/[email protected]
       with:
         required-ros-distributions: ${{ matrix.ros_distribution }}
+        use-ros2-testing: ${{ matrix.use_ros2_testing }}
+
+    # setup-ros doesn't upgrade on noble/resolute, so the packages preinstalled
+    # in the image would stay at their main versions. Upgrade them to testing.
+    - name: Upgrade ROS packages to testing
+      if: matrix.use_ros2_testing
+      run: apt-get update && apt-get dist-upgrade -y
     - uses: ros-tooling/[email protected]
       with:
         package-name: rtabmap
         target-ros2-distro: ${{ matrix.ros_distribution }}
         rosdep-skip-keys: "${{ matrix.skip_keys }}"
-      
+        coverage-result: false
+        extra-cmake-args: -DTEST_DATA_ROOT=${{ steps.testdata.outputs.root }}