mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 01:50:24 +08:00
101 lines
3.9 KiB
YAML
101 lines
3.9 KiB
YAML
name: CMake-ROS
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on:
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push:
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branches:
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- master
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pull_request:
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branches:
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- '**'
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workflow_dispatch:
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env:
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BUILD_TYPE: Release
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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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build:
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name: ${{ matrix.ros_distribution }}
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runs-on: ubuntu-latest
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concurrency:
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group: ${{ github.workflow }}-${{ github.ref }}-${{ matrix.ros_distribution }}
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cancel-in-progress: true
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strategy:
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fail-fast: false
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matrix:
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ros_distribution: [ humble, jazzy, kilted, lyrical, rolling]
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include:
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- ros_distribution: 'humble'
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skip_keys: ""
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- ros_distribution: 'jazzy'
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skip_keys: ""
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- ros_distribution: 'kilted'
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skip_keys: ""
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- ros_distribution: 'lyrical'
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skip_keys: "libpointmatcher"
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- ros_distribution: 'rolling'
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skip_keys: "libpointmatcher gtsam"
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use_ros2_testing: true # Rolling is using ros2-testing (nightly)
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container:
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image: osrf/ros:${{ matrix.ros_distribution }}-desktop-full
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steps:
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- uses: actions/checkout@v4
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- name: Restore test data
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id: cache-testdata
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uses: actions/cache@v4
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with:
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path: data/tests/*.db
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key: testdata-${{ hashFiles('data/tests/manifest.txt') }}
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- name: Fetch test data
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if: steps.cache-testdata.outputs.cache-hit != 'true'
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shell: bash
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run: |
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# The ROS images are slim; fetch_test_data.sh needs curl, and 7-Zip for
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# the assets that come as an archive. The package holding it is
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# p7zip-full up to Ubuntu 24.04 and 7zip on the newer ones.
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command -v curl >/dev/null || (apt-get update && apt-get install -y --no-install-recommends curl)
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command -v 7z >/dev/null || command -v 7zz >/dev/null || (apt-get update && \
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(apt-get install -y --no-install-recommends p7zip-full || \
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apt-get install -y --no-install-recommends 7zip))
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bash scripts/fetch_test_data.sh
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# `${{ github.workspace }}` is expanded by the runner on the *host*
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# (/home/runner/work/...), but this job runs in a container where the runner
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# bind-mounts that directory somewhere else (/__w/...). Baking the host path
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# into RTABMAP_TEST_DATA_ROOT points every data-driven test at a directory
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# that does not exist in the container: the integration tests silently skip
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# and the ones that imread() committed fixtures abort outright.
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#
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# Resolve the path inside the container instead. A `run` step's cwd is the
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# checkout root -- the same assumption the relative `scripts/...` and
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# `data/tests/*.db` paths in the steps above already rely on -- so derive it
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# from $PWD rather than trusting a path computed outside the container. The
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# existence checks then turn that into a verified precondition: a wrong
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# mount point or a failed fetch fails here, with the path printed, instead
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# of degrading into skipped tests.
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- name: Resolve test data root in the container
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id: testdata
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shell: bash
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run: |
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root="$PWD/data"
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test -f "$root/samples/17.jpg" || { echo "::error::test data root $root is missing committed fixtures"; exit 1; }
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ls "$root"/tests/*.db >/dev/null || { echo "::error::no test databases in $root/tests"; exit 1; }
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echo "root=$root" >> "$GITHUB_OUTPUT"
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- uses: ros-tooling/setup-ros@v0.7
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with:
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required-ros-distributions: ${{ matrix.ros_distribution }}
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use-ros2-testing: ${{ matrix.use_ros2_testing || false }}
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- uses: ros-tooling/action-ros-ci@v0.4
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with:
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package-name: rtabmap
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target-ros2-distro: ${{ matrix.ros_distribution }}
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rosdep-skip-keys: "${{ matrix.skip_keys }}"
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coverage-result: false
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extra-cmake-args: -DTEST_DATA_ROOT=${{ steps.testdata.outputs.root }}
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