mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-03 16:47:47 +08:00
Compare commits
6
Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 matlabbe
|
d1e5c61c1b | ||
|
matlabbe
|
74c0095c2c | ||
|
matlabbe
|
d10f2d9738 | ||
|
matlabbe
|
33c433baba | ||
|
matlabbe
|
a58024e0c5 | ||
|
matlabbe
|
bdb3e3fab8 |
@@ -3,7 +3,7 @@ name: CMake-ROS
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- master
|
||||
- rolling-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: [ rolling ]
|
||||
# Testing only: the osrf/ros:rolling image is already set up on ros2-testing,
|
||||
# and rolling's main repo is just a periodic snapshot of it.
|
||||
use_ros2_testing: [ true ]
|
||||
include:
|
||||
- ros_distribution: 'humble'
|
||||
skip_keys: ""
|
||||
- ros_distribution: 'jazzy'
|
||||
skip_keys: ""
|
||||
- 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)
|
||||
skip_keys: "" # When releasing to ROS2, the skip_keys should be empty, patch these deps in package.xml instead.
|
||||
container:
|
||||
image: osrf/ros:${{ matrix.ros_distribution }}-desktop-full
|
||||
steps:
|
||||
@@ -94,10 +88,23 @@ jobs:
|
||||
ls "$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
|
||||
|
||||
@@ -8,7 +8,7 @@ rtabmap
|
||||
[](https://codecov.io/gh/introlab/rtabmap)
|
||||
[![License][license-image]][license]
|
||||
|
||||
[release-image]: https://img.shields.io/github/v/release/introlab/rtabmap?color=green&style=flat
|
||||
[release-image]: https://img.shields.io/badge/release-0.23.1-green.svg?style=flat
|
||||
[releases]: https://github.com/introlab/rtabmap/releases
|
||||
|
||||
[downloads-image]: https://img.shields.io/github/downloads/introlab/rtabmap/total?label=downloads
|
||||
@@ -34,26 +34,59 @@ This project is supported by [IntRoLab - Intelligent / Interactive / Integrated
|
||||
|
||||
#### CI Latest
|
||||
|
||||
| | Build |
|
||||
|---|---|
|
||||
| Desktop | [](https://github.com/introlab/rtabmap/actions/workflows/cmake-linux.yml) [](https://github.com/introlab/rtabmap/actions/workflows/cmake-windows.yml) [](https://github.com/introlab/rtabmap/actions/workflows/cmake-macos.yml) |
|
||||
| ROS | [](https://github.com/introlab/rtabmap/actions/workflows/cmake-ros.yml) [](https://github.com/introlab/rtabmap/actions/workflows/docker-ros.yml) |
|
||||
| Mobile | [](https://github.com/introlab/rtabmap/actions/workflows/android.yml) [](https://github.com/introlab/rtabmap/actions/workflows/ios.yml) |
|
||||
| Quality | [](https://github.com/introlab/rtabmap/actions/workflows/coverage.yml) [](https://github.com/introlab/rtabmap/actions/workflows/docs.yml) |
|
||||
<table>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td>
|
||||
<a href="https://github.com/introlab/rtabmap/actions/workflows/cmake-linux.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/cmake-linux.yml/badge.svg" alt="CMake Linux Build Status"/> <br>
|
||||
<a href="https://github.com/introlab/rtabmap/actions/workflows/cmake-windows.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/cmake-windows.yml/badge.svg" alt="CMake Windows Build Status"/> <br>
|
||||
<a href="https://github.com/introlab/rtabmap/actions/workflows/cmake-macos.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/cmake-macos.yml/badge.svg" alt="CMake MaCOS Build Status"/> <br>
|
||||
<a href="https://github.com/introlab/rtabmap/actions/workflows/cmake-ros.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/cmake-ros.yml/badge.svg" alt="CMake ROS Build Status"/> <br>
|
||||
<a href="https://github.com/introlab/rtabmap/actions/workflows/docker-ros.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/docker-ros.yml/badge.svg" alt="Docker ROS Build Status"/> <br>
|
||||
<a href="https://github.com/introlab/rtabmap/actions/workflows/android.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/android.yml/badge.svg" alt="Android Build Status"/>
|
||||
</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
|
||||
#### ROS Binaries
|
||||
|
||||
`ros-$ROS_DISTRO-rtabmap`
|
||||
|
||||
| | Distro | Ubuntu | Released | In apt | Build |
|
||||
|---|---|---|---|---|---|
|
||||
| ROS 1 | Noetic (EOL) | 20.04 | [](https://github.com/ros/rosdistro/blob/master/noetic/distribution.yaml) | [](https://index.ros.org/p/rtabmap/#noetic) | |
|
||||
| ROS 2 | Humble | 22.04 | [](https://github.com/ros/rosdistro/blob/master/humble/distribution.yaml) | [](https://index.ros.org/p/rtabmap/#humble) | [](http://build.ros2.org/job/Hbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary/) |
|
||||
| ROS 2 | Iron (EOL) | 22.04 | [](https://github.com/ros/rosdistro/blob/master/iron/distribution.yaml) | [](https://index.ros.org/p/rtabmap/#iron) | |
|
||||
| ROS 2 | Jazzy | 24.04 | [](https://github.com/ros/rosdistro/blob/master/jazzy/distribution.yaml) | [](https://index.ros.org/p/rtabmap/#jazzy) | [](http://build.ros2.org/job/Jbin_uN64__rtabmap__ubuntu_noble_amd64__binary/) |
|
||||
| ROS 2 | Kilted | 24.04 | [](https://github.com/ros/rosdistro/blob/master/kilted/distribution.yaml) | [](https://index.ros.org/p/rtabmap/#kilted) | [](http://build.ros2.org/job/Kbin_uN64__rtabmap__ubuntu_noble_amd64__binary/) |
|
||||
| ROS 2 | Lyrical | 26.04 | [](https://github.com/ros/rosdistro/blob/master/lyrical/distribution.yaml) | [](https://index.ros.org/p/rtabmap/#lyrical) | [](http://build.ros2.org/job/Lbin_uR64__rtabmap__ubuntu_resolute_amd64__binary/) |
|
||||
| ROS 2 | Rolling | 26.04 | [](https://github.com/ros/rosdistro/blob/master/rolling/distribution.yaml) | [](https://index.ros.org/p/rtabmap/#rolling) | [](http://build.ros2.org/job/Rbin_uR64__rtabmap__ubuntu_resolute_amd64__binary/) |
|
||||
| Docker | [rtabmap](https://hub.docker.com/r/introlab3it/rtabmap) | | |  | |
|
||||
|
||||
*Released* is the version bloomed into [rosdistro](https://github.com/ros/rosdistro); *In apt* is what `apt install` actually gives you today. They differ while a release is waiting on a buildfarm sync.
|
||||
<table>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td rowspan="1">ROS 1</td>
|
||||
<td>Noetic</td>
|
||||
<td><a href="http://build.ros.org/job/Nbin_ufv8_uFv8__rtabmap__ubuntu_focal_arm64__binary/"><img src="http://build.ros.org/buildStatus/icon?job=Nbin_ufv8_uFv8__rtabmap__ubuntu_focal_arm64__binary" alt="Build Status"/></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td rowspan="5">ROS 2</td>
|
||||
<td>Humble</td>
|
||||
<td><a href="http://build.ros2.org/job/Hbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary" alt="Build Status"/></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Jazzy</td>
|
||||
<td><a href="http://build.ros2.org/job/Jbin_uN64__rtabmap__ubuntu_noble_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Jbin_uN64__rtabmap__ubuntu_noble_amd64__binary" alt="Build Status"/></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Kilted</td>
|
||||
<td><a href="http://build.ros2.org/job/Lbin_uR64__rtabmap__ubuntu_resolute_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Lbin_uR64__rtabmap__ubuntu_resolute_amd64__binary" alt="Build Status"/></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Lyrical</td>
|
||||
<td><a href="http://build.ros2.org/job/Kbin_uN64__rtabmap__ubuntu_noble_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Kbin_uN64__rtabmap__ubuntu_noble_amd64__binary" alt="Build Status"/></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Rolling</td>
|
||||
<td><a href="http://build.ros2.org/job/Rbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary" alt="Build Status"/></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Docker</td>
|
||||
<td>
|
||||
<a href="https://hub.docker.com/r/introlab3it/rtabmap">rtabmap</a>
|
||||
</td>
|
||||
<td><img src="https://img.shields.io/docker/pulls/introlab3it/rtabmap" alt="Docker Pulls"/></td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
|
||||
+3
-3
@@ -18,12 +18,12 @@
|
||||
<depend>gtsam</depend>
|
||||
<!-- <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 -->
|
||||
<!-- <depend>libpointmatcher</depend> Not available on rolling--> <!-- optional but recommended if lidar is used, also not available on 32 bits system, but rtabmap can be built without it -->
|
||||
<!-- <depend>libproj-dev</depend> needed due to error in vtk6 (kinetic)-->
|
||||
<depend>libsqlite3-dev</depend>
|
||||
<depend>liboctomap-dev</depend>
|
||||
<!-- <depend>grid_map_core</depend> --> <!-- till this PR is released https://github.com/ANYbotics/grid_map/pull/499 -->
|
||||
<depend>qt_gui_cpp</depend> <!-- libqt4-dev or libqt5-dev -->
|
||||
<!-- <depend>grid_map_core</depend> # not available on Rolling -->
|
||||
<depend>qtbase5-dev</depend>
|
||||
<depend>zlib</depend>
|
||||
|
||||
<export>
|
||||
|
||||
Reference in New Issue
Block a user