CI: removed QEMU, use ubuntu arm runners (#1458)

* CI: removed QEMU, use ubuntu arm runners

* set back -j2

* executor sequential

docker/humble/latest/Dockerfile

@@ -15,19 +15,13 @@ RUN source /ros_entrypoint.sh && \
     bash src/rtabmap_ros/docker/verify_deps.sh && \
     apt-get clean && rm -rf /var/lib/apt/lists/
 
-# Tests run in the build layer, before the workspace is deleted, so none of them reach
-# the image. CI asks for them; a target that is not the architecture being built on
-# skips them, that one being emulated. Only buildx sets BUILDPLATFORM, so anything
-# else building with RUN_TESTS=1 runs them.
 ARG RUN_TESTS=0
-ARG BUILDPLATFORM
-ARG TARGETPLATFORM
 
 RUN source /ros_entrypoint.sh && \
     cd ros2_ws && \
     export MAKEFLAGS="-j2" && \
     colcon build --executor sequential --event-handlers console_direct+ --install-base /opt/ros/humble --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
-    if [ "$RUN_TESTS" = "1" ] && [ "${BUILDPLATFORM:-$TARGETPLATFORM}" = "$TARGETPLATFORM" ]; then \
+    if [ "$RUN_TESTS" = "1" ]; then \
         colcon test --executor sequential --event-handlers console_direct+ --install-base /opt/ros/humble --merge-install && \
         colcon test-result --verbose; \
     fi && \

docker/jazzy/latest/Dockerfile

@@ -17,19 +17,13 @@ RUN source /ros_entrypoint.sh && \
     bash src/rtabmap_ros/docker/verify_deps.sh && \
     apt-get clean && rm -rf /var/lib/apt/lists/
 
-# Tests run in the build layer, before the workspace is deleted, so none of them reach
-# the image. CI asks for them; a target that is not the architecture being built on
-# skips them, that one being emulated. Only buildx sets BUILDPLATFORM, so anything
-# else building with RUN_TESTS=1 runs them.
 ARG RUN_TESTS=0
-ARG BUILDPLATFORM
-ARG TARGETPLATFORM
 
 RUN source /ros_entrypoint.sh && \
     cd ros2_ws && \
     export MAKEFLAGS="-j2" && \
-    colcon build --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
-    if [ "$RUN_TESTS" = "1" ] && [ "${BUILDPLATFORM:-$TARGETPLATFORM}" = "$TARGETPLATFORM" ]; then \
+    colcon build --executor sequential --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
+    if [ "$RUN_TESTS" = "1" ]; then \
         colcon test --executor sequential --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install && \
         colcon test-result --verbose; \
     fi && \

docker/kilted/latest/Dockerfile

@@ -17,19 +17,13 @@ RUN source /ros_entrypoint.sh && \
     bash src/rtabmap_ros/docker/verify_deps.sh && \
     apt-get clean && rm -rf /var/lib/apt/lists/
 
-# Tests run in the build layer, before the workspace is deleted, so none of them reach
-# the image. CI asks for them; a target that is not the architecture being built on
-# skips them, that one being emulated. Only buildx sets BUILDPLATFORM, so anything
-# else building with RUN_TESTS=1 runs them.
 ARG RUN_TESTS=0
-ARG BUILDPLATFORM
-ARG TARGETPLATFORM
 
 RUN source /ros_entrypoint.sh && \
     cd ros2_ws && \
     export MAKEFLAGS="-j2" && \
-    colcon build --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
-    if [ "$RUN_TESTS" = "1" ] && [ "${BUILDPLATFORM:-$TARGETPLATFORM}" = "$TARGETPLATFORM" ]; then \
+    colcon build --executor sequential --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
+    if [ "$RUN_TESTS" = "1" ]; then \
         colcon test --executor sequential --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install && \
         colcon test-result --verbose; \
     fi && \

docker/lyrical/latest/Dockerfile

@@ -17,19 +17,13 @@ RUN source /ros_entrypoint.sh && \
     bash src/rtabmap_ros/docker/verify_deps.sh && \
     apt-get clean && rm -rf /var/lib/apt/lists/
 
-# Tests run in the build layer, before the workspace is deleted, so none of them reach
-# the image. CI asks for them; a target that is not the architecture being built on
-# skips them, that one being emulated. Only buildx sets BUILDPLATFORM, so anything
-# else building with RUN_TESTS=1 runs them.
 ARG RUN_TESTS=0
-ARG BUILDPLATFORM
-ARG TARGETPLATFORM
 
 RUN source /ros_entrypoint.sh && \
     cd ros2_ws && \
     export MAKEFLAGS="-j2" && \
-    colcon build --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
-    if [ "$RUN_TESTS" = "1" ] && [ "${BUILDPLATFORM:-$TARGETPLATFORM}" = "$TARGETPLATFORM" ]; then \
+    colcon build --executor sequential --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
+    if [ "$RUN_TESTS" = "1" ]; then \
         colcon test --executor sequential --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install && \
         colcon test-result --verbose; \
     fi && \

docker/verify_deps.sh

@@ -55,9 +55,22 @@ for targets in /usr/lib/*/cmake/vtk-*/VTK-targets.cmake /usr/lib/cmake/vtk-*/VTK
   fi
 done
 
+# libssl-dev ships the libssl.so and libcrypto.so development symlinks beside the
+# headers FindOpenSSL reads its version from. Every find_package(rclcpp) reaches
+# find_package(OpenSSL REQUIRED) through fastrtps-config.cmake, so headers without
+# the symlinks fail the first package that configures rclcpp, several packages in.
+if [ -e /usr/include/openssl/opensslv.h ]; then
+  for lib in ssl crypto; do
+    if ! compgen -G "/usr/lib/*-linux-gnu/lib${lib}.so" > /dev/null \
+       && [ ! -e "/usr/lib/lib${lib}.so" ]; then
+      fail "no lib${lib}.so under /usr/lib while /usr/include/openssl is installed (libssl-dev is incomplete)"
+    fi
+  done
+fi
+
 if [ "${status}" -ne 0 ]; then
   echo "verify_deps: dependency installation left an inconsistent sysroot, aborting before the build" >&2
   exit 1
 fi
 
-echo "verify_deps: PCL and VTK sysroot look consistent"
+echo "verify_deps: PCL, VTK and OpenSSL sysroot look consistent"