mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-04 00:57:46 +08:00
matlabbe
16fb2f0541
* CI: use ubuntu arm runners instead of QEMU * removed focal deps docker image ci * run tests in docker ci * revert temporary test * trigger ci jobs with modified files * ldconfig * arm64 ldconfig order * No response filtering here: cv::goodFeaturesToTrack() already applies GFTT/QualityLevel, relative to the best corner's measure. Re-applying it as an absolute floor on KeyPoint::response double-filtered (~86% of keypoints ropped on OpenCV 4.5), and dropped *every* keypoint on OpenCV < 4.5, whose GFTTDetector leaves response at 0. * fixing ExtractXYZCorrespondencesRANSAC ci error * increased windows timeout (probably caused by gftt fix now extracting more features)
228 lines
8.1 KiB
YAML
228 lines
8.1 KiB
YAML
name: docker-ros
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# ROS images: focal/noetic (ROS1) and jammy/humble, noble/jazzy, noble-kilted,
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# resolute (ROS2). Android images live in android.yml.
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#
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# Every arch is built natively: amd64 on an x86 runner, arm64 on a GitHub
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# arm64 runner, so no QEMU emulation is involved. Because a single Docker Hub
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# tag cannot hold two independently pushed architectures, each build pushes an
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# arch-suffixed tag (e.g. :resolute-amd64 / :resolute-arm64) and a final job
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# joins them into the real multi-arch tag (:resolute) with `imagetools create`.
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#
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# The runner image only hosts the build; it does not have to match the Ubuntu
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# release inside the image, so ubuntu-26.04{,-arm} is used for all of them
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# (ubuntu-22.04{,-arm} and ubuntu-24.04{,-arm} also exist, if ever needed).
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# That is also why focal can sit in this matrix: a 20.04 userland runs fine on
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# a newer host kernel, and ros:noetic-perception publishes a native arm64 image.
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on:
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push:
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branches:
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- 'master'
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paths-ignore: &platform_only
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- '.github/workflows/android.yml'
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- '.github/workflows/ios.yml'
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- 'app/android/**'
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- 'app/ios/**'
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- 'docker/noble/android/**'
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pull_request:
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branches:
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- '**'
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paths-ignore: *platform_only
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workflow_dispatch:
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concurrency:
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group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
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cancel-in-progress: ${{ github.event_name == 'pull_request' }}
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jobs:
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docker_deps:
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# The ###-deps images used to be too flaky to build here at all (seg faults,
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# arm64 build timeouts under QEMU -- see
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# https://github.com/introlab/rtabmap/issues/1454) and had to be built by
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# hand from a 20.04 box with an upgraded qemu-user-static. Building each
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# arch natively removes that cause.
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# Skipped on pull requests; built and pushed only from master (push or
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# manual dispatch), since it pushes the :*-deps tags to Docker Hub.
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#
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# focal is deliberately absent: its ROS1/noetic deps are frozen, so
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# :focal-deps is built by hand on the rare occasion it changes. The focal
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# runtime image below still builds here, FROM the published :focal-deps.
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if: github.ref == 'refs/heads/master'
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runs-on: ${{ matrix.runner }}
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strategy:
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fail-fast: false
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matrix:
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docker_dir: [jammy, noble, noble-kilted, resolute]
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arch: [amd64, arm64]
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include:
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- arch: amd64
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runner: ubuntu-26.04
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docker_platform: linux/amd64
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- arch: arm64
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runner: ubuntu-26.04-arm
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docker_platform: linux/arm64
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steps:
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-
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name: Checkout
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uses: actions/checkout@v4
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-
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name: Set up Docker Buildx
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uses: docker/setup-buildx-action@v3
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-
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name: Login to DockerHub
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uses: docker/login-action@v3
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with:
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username: ${{ secrets.DOCKERHUB_USERNAME }}
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password: ${{ secrets.DOCKERHUB_TOKEN }}
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-
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name: Build and push
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uses: docker/build-push-action@v6
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with:
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context: .
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push: true
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platforms: ${{ matrix.docker_platform }}
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file: ./docker/${{ matrix.docker_dir }}/deps/Dockerfile
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tags: introlab3it/rtabmap:${{ matrix.docker_dir }}-deps-${{ matrix.arch }}
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cache-from: type=registry,ref=introlab3it/rtabmap:${{ matrix.docker_dir }}-deps-${{ matrix.arch }}
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cache-to: type=inline
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docker_deps_manifest:
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needs: docker_deps
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# Same gate as docker_deps, so both are skipped together on pull requests
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# (github.ref is refs/pull/<n>/merge there): the per-arch -deps tags this
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# joins are only ever pushed from master.
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if: ${{ !cancelled() && !failure() && github.ref == 'refs/heads/master' }}
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runs-on: ubuntu-26.04
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strategy:
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fail-fast: false
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matrix:
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docker_dir: [jammy, noble, noble-kilted, resolute]
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steps:
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-
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name: Login to DockerHub
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uses: docker/login-action@v3
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with:
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username: ${{ secrets.DOCKERHUB_USERNAME }}
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password: ${{ secrets.DOCKERHUB_TOKEN }}
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-
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name: Create multi-arch manifest
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run: |
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docker buildx imagetools create \
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-t introlab3it/rtabmap:${{ matrix.docker_dir }}-deps \
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introlab3it/rtabmap:${{ matrix.docker_dir }}-deps-amd64 \
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introlab3it/rtabmap:${{ matrix.docker_dir }}-deps-arm64
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docker:
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needs: docker_deps_manifest
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# Run even when the deps jobs are skipped (they are, on pull requests):
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# the runtime Dockerfiles then pull the :*-deps manifest already on Docker Hub.
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# A manual dispatch is honored only on master, the only ref we push from.
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if: ${{ !cancelled() && !failure() && (github.event_name != 'workflow_dispatch' || github.ref == 'refs/heads/master') }}
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runs-on: ${{ matrix.runner }}
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strategy:
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fail-fast: false
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matrix:
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docker_dir: [focal, jammy, noble, noble-kilted, resolute]
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arch: [amd64, arm64]
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include:
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- arch: amd64
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runner: ubuntu-26.04
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docker_platform: linux/amd64
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- arch: arm64
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runner: ubuntu-26.04-arm
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docker_platform: linux/arm64
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steps:
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-
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name: Checkout
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uses: actions/checkout@v4
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-
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name: Set up Docker Buildx
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uses: docker/setup-buildx-action@v3
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-
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name: Login to DockerHub
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# Only needed when pushing; skipped on pull requests (secrets are
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# unavailable for fork PRs and we don't push there anyway).
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if: github.event_name != 'pull_request'
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uses: docker/login-action@v3
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with:
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username: ${{ secrets.DOCKERHUB_USERNAME }}
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password: ${{ secrets.DOCKERHUB_TOKEN }}
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-
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name: Build and push
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uses: docker/build-push-action@v6
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with:
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context: .
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push: ${{ github.event_name != 'pull_request' }}
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platforms: ${{ matrix.docker_platform }}
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file: ./docker/${{ matrix.docker_dir }}/Dockerfile
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build-args: |
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RUN_TESTS=1
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tags: introlab3it/rtabmap:${{ matrix.docker_dir }}-${{ matrix.arch }}
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cache-from: type=registry,ref=introlab3it/rtabmap:${{ matrix.docker_dir }}-${{ matrix.arch }}
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cache-to: type=inline
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docker_manifest:
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needs: docker
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# Nothing to join on pull requests, where the per-arch tags are never pushed.
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if: ${{ !cancelled() && !failure() && github.event_name != 'pull_request' && (github.event_name != 'workflow_dispatch' || github.ref == 'refs/heads/master') }}
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runs-on: ubuntu-26.04
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strategy:
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fail-fast: false
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matrix:
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docker_dir: [focal, jammy, noble, noble-kilted, resolute]
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include:
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- docker_dir: focal
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docker_tags: |
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introlab3it/rtabmap:focal
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introlab3it/rtabmap:20.04
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- docker_dir: jammy
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docker_tags: |
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introlab3it/rtabmap:jammy
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introlab3it/rtabmap:22.04
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- docker_dir: noble
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docker_tags: |
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introlab3it/rtabmap:noble
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introlab3it/rtabmap:24.04
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- docker_dir: noble-kilted
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docker_tags: |
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introlab3it/rtabmap:noble-kilted
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# :latest tracks the newest ROS2 image (currently resolute, ROS2 lyrical
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# on ubuntu 26.04) -- move it along with the next distro bump.
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- docker_dir: resolute
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docker_tags: |
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introlab3it/rtabmap:resolute
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introlab3it/rtabmap:26.04
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introlab3it/rtabmap:latest
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steps:
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-
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name: Login to DockerHub
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uses: docker/login-action@v3
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with:
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username: ${{ secrets.DOCKERHUB_USERNAME }}
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password: ${{ secrets.DOCKERHUB_TOKEN }}
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-
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name: Create multi-arch manifest
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env:
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DOCKER_TAGS: ${{ matrix.docker_tags }}
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run: |
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tag_args=()
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while read -r tag; do
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if [ -n "$tag" ]; then
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tag_args+=(-t "$tag")
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fi
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done <<< "$DOCKER_TAGS"
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docker buildx imagetools create "${tag_args[@]}" \
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introlab3it/rtabmap:${{ matrix.docker_dir }}-amd64 \
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introlab3it/rtabmap:${{ matrix.docker_dir }}-arm64
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