mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-13 05:19:51 +08:00
matlabbe
1ea8fa2e06
* New rtabmap-reduceGraph CLI tool * fixed some edge cases * Regenerating optimized map if there was one before reducing the graph * addMoreLoopClosures: refactored how ctrl-c is handled to stop faster when no loop closures are added * Added kilted status * Make offline tool always propagate neighbor merged links * removed a parameter * fixed disconnected graph * fixed --help * Added error log on Kp/NNStrategy not compatible with huge vocabulary. ReduceGraph/DetectMoreLoopClosures: Make sure original parameters are saved back on closing. g2o: fixing optimizer to Levenberg for SBA to avoid [SetJac] infinite jac fatal error. * exposing neighbor merged ratio parameter to the tool * show param in log * refactored detectMoreLoopClosures to ignore too close nodes in terms of neighbor links based on Mem/STMSize parameter. Reduce graph: added direction parameter. * Simplified: removed ratio parameter, removed recursive reduction. Just don't reduce if a NM link is longer than maxDistance. * Removed NNStrategy override, as it was still done on closing when we changed back to original params * DBViewer: show missing links when showing OptimizedPoses in GraphView, fixed clicking on landmark links * DetectMoreLoopClosures: Added support for min graph distance option in MainWindow and DbViewer * slight renaming of ROS jobs * reprocess: added option --params_last
79 lines
2.7 KiB
YAML
79 lines
2.7 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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env:
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# Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
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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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# The CMake configure and build commands are platform agnostic and should work equally
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# well on Windows or Mac. You can convert this to a matrix build if you need
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# cross-platform coverage.
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# See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
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name: ${{ matrix.ros_distribution }}-${{ matrix.os }}
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runs-on: ${{ matrix.os }}
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strategy:
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fail-fast: false
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matrix:
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ros_distribution: [ humble, jazzy, kilted, rolling ]
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include:
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- ros_distribution: 'humble'
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os: ubuntu-22.04
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- ros_distribution: 'jazzy'
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os: ubuntu-24.04
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- ros_distribution: 'kilted'
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os: ubuntu-24.04
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- ros_distribution: 'rolling'
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os: ubuntu-24.04
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steps:
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- name: Setup ROS2
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# https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html
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run: |
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sudo apt install software-properties-common
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sudo add-apt-repository universe
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sudo apt update && sudo apt install curl -y
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export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}')
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curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb"
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sudo apt install /tmp/ros2-apt-source.deb
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sudo apt update
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- uses: ros-tooling/[email protected]
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with:
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required-ros-distributions: ${{ matrix.ros_distribution }}
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- uses: actions/checkout@v4
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- name: Install dependencies
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run: |
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source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
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rosdep update
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rosdep install --from-paths ${{github.workspace}} -y
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- name: Configure CMake
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run: |
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source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
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cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
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- name: Build
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run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
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- name: Info
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working-directory: ${{github.workspace}}/build/bin
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run: |
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source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
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./rtabmap-console --version
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