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

.github/workflows/cmake-ros.yml

@@ -3,7 +3,7 @@ name: CMake-ROS
 on:
   push:
     branches: 
-      - master
+      - jazzy-devel
     paths-ignore: &platform_only
       - '.github/workflows/android.yml'
       - '.github/workflows/ios.yml'
@@ -21,31 +21,25 @@ env:
 
 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:
-    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 }}
+      group: ${{ github.workflow }}-${{ github.ref }}-${{ matrix.ros_distribution }}-${{ matrix.use_ros2_testing }}
       cancel-in-progress: true
     strategy:
       fail-fast: false
       matrix:
-        ros_distribution: [ humble, jazzy, kilted, lyrical, rolling]
+        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: 'humble'
-          skip_keys: ""
         - ros_distribution: 'jazzy'
-          skip_keys: ""
+          skip_keys: "" # When releasing to ROS2, the skip_keys should be empty, patch these deps in package.xml instead.
-        - ros_distribution: 'kilted'
-          skip_keys: ""
-        - ros_distribution: 'lyrical'
-          skip_keys: "libpointmatcher"
-        - ros_distribution: 'rolling'
-          skip_keys: "libpointmatcher gtsam"
-          use_ros2_testing: true # Rolling is using ros2-testing (nightly)
     container:
       image: osrf/ros:${{ matrix.ros_distribution }}-desktop-full
     steps:
@@ -94,10 +88,23 @@ jobs:
         ls "$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 || false }}
+        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

package.xml

@@ -16,6 +16,7 @@
   <depend>cv_bridge</depend>
   <depend>libg2o</depend>
   <depend>gtsam</depend>
+  <depend>tbb</depend> <!-- till tbb is added to gtsam dependencies https://github.com/borglab/gtsam/issues/1759 -->
   <!-- <depend>libopenni2-dev</depend> --> <!-- not available on Jessie -->
   <depend>libpcl-all-dev</depend> <!--  include libvtk-qt -->
   <depend>libpointmatcher</depend> <!-- optional but recommended if lidar is used, also not available on 32 bits system, but rtabmap can be built without it -->