mirror of
https://github.com/introlab/rtabmap.git
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104 lines
3.4 KiB
YAML
104 lines
3.4 KiB
YAML
name: CMake-Linux
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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.build_name }}
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runs-on: ${{ matrix.os }}
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concurrency:
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group: ${{ github.workflow }}-${{ github.ref }}-${{ matrix.build_name }}
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cancel-in-progress: true
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strategy:
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fail-fast: true
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matrix:
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build_name: [ubuntu-22.04, ubuntu-24.04, ubuntu-24.04-with-opengv, ubuntu-26.04]
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include:
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- build_name: ubuntu-22.04
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os: ubuntu-22.04
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extra_deps: "libunwind-dev libceres-dev"
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extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON"
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- build_name: ubuntu-24.04
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os: ubuntu-24.04
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extra_deps: "libg2o-dev libceres-dev"
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extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON"
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- build_name: ubuntu-24.04-with-opengv
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os: ubuntu-24.04
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extra_deps: "libg2o-dev libceres-dev"
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extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON -DBUILD_OPENGV=ON"
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- build_name: ubuntu-26.04
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os: ubuntu-26.04
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extra_deps: "libg2o-dev libceres-dev"
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extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON -DBUILD_OPENGV=ON"
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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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# SQLite DBs are binary-portable -> share the cache across
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# linux / macos / windows. Key omits runner.os on purpose so all
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# three OSes hit the same entry.
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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: bash scripts/fetch_test_data.sh
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- name: Install Linux Dependencies
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run: |
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DEBIAN_FRONTEND=noninteractive
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sudo apt-get update
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sudo apt-get -y install libopencv-dev libpcl-dev git cmake software-properties-common libyaml-cpp-dev ${{ matrix.extra_deps }}
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- name: Set up Python
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uses: actions/setup-python@v5
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with:
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python-version: '3.x'
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- name: Install Python Dependencies
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run: |
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python -m pip install --upgrade pip
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pip install numpy pybind11
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- name: Configure CMake
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run: |
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cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DPython3_EXECUTABLE=$(which python3) -Dpybind11_DIR=$(python3 -m pybind11 --cmakedir) ${{ matrix.extra_cmake_def }}
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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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./rtabmap-console --version
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- name: Test
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working-directory: ${{github.workspace}}/build
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# PYTHONNOUSERSITE=1: prevent the embedded Python interpreter from
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# loading numpy / other site-packages from ~/.local that were compiled
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# against a different ABI than the build-time Python (causes numpy
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# 1.x/2.x mismatch crashes in test_pydetector / test_pydescriptor /
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# test_pymatcher).
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env:
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PYTHONNOUSERSITE: 1
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run: |
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ctest -C ${{env.BUILD_TYPE}} --output-on-failure |