Lyrical support (#1433)

* Lyrical support

* removed dep not available on lyrical

* updated docker lyrcical

* making cmake less verbose, disabled tests on rtabmap_python

* cleanup not used tests in rtabmap_python

* addressing some lyrical deprecated warnings

* cancel pr jobs on recommit

* small refactor

* disabled lyrical bin docker

* restored python test and fixed error

* trigger ci

* fixing docker lyrical

* disabled rtabmap_ros lyrical

* pytest

* fixing packages-skip

* bump 0.23.7

.github/workflows/docker-ros2.yml

@@ -2,8 +2,13 @@ name: docker
 
 on:
   push:
-    branches:
-      - 'ros2'
+    branches: [ ros2 ]
+  pull_request:
+    branches: [ ros2 ]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
 
 jobs:
   docker:
@@ -12,7 +17,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        docker_tag: [humble, humble-latest, jazzy, jazzy-latest, kilted-latest]
+        docker_tag: [humble, humble-latest, jazzy, jazzy-latest, kilted, kilted-latest, lyrical-latest]
         include:
         - docker_tag: humble
           docker_path: 'humble'
@@ -33,8 +38,23 @@ jobs:
           docker_platforms: |
             linux/amd64
             linux/arm64
+        - docker_tag: kilted
+          docker_path: 'kilted'
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
         - docker_tag: kilted-latest
           docker_path: 'kilted/latest'
+          docker_platforms: |
+            linux/amd64
+        #Disabled till rtabmap_ros is released on lyrical
+        #- docker_tag: lyrical
+        #  docker_path: 'lyrical'
+        #  docker_platforms: |
+        #    linux/amd64
+        #    linux/arm64
+        - docker_tag: lyrical-latest
+          docker_path: 'lyrical/latest'
           docker_platforms: |
             linux/amd64
             linux/arm64
@@ -53,6 +73,9 @@ jobs:
         uses: docker/setup-buildx-action@v3
       -
         name: Login to DockerHub
+        # Only needed when pushing; skipped on pull requests (secrets are
+        # unavailable for fork PRs and we don't push there anyway).
+        if: github.event_name != 'pull_request'
         uses: docker/login-action@v3
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
@@ -62,8 +85,8 @@ jobs:
         uses: docker/build-push-action@v6
         with:
           context: .
-          push: true
-          platforms: ${{ matrix.docker_platforms }}
+          push: ${{ github.event_name != 'pull_request' }}
+          platforms: ${{ github.event_name == 'pull_request' && 'linux/amd64' || matrix.docker_platforms }}
           file: ./docker/${{ matrix.docker_path }}/Dockerfile
           tags: introlab3it/rtabmap_ros:${{ matrix.docker_tag }}
           no-cache: true