Merge branch 'ros2' of github.com:introlab/rtabmap_ros into humble-devel

.github/workflows/ros2.yml

@@ -6,33 +6,41 @@ on:
     branches: [ humble-devel ]
   pull_request:
     branches: [ humble-devel ]
+  workflow_dispatch:
 
 env:
   BUILD_TYPE: Release
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
-  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
+  cancel-in-progress: true
 
 jobs:
   build:
-    name: Build ros2 ${{ matrix.ros_distro }}
+    name: Build ros2 ${{ matrix.ros_distro }}${{ matrix.ros2_testing && ' (ros-testing)' || '' }}
     runs-on: ubuntu-latest
     strategy:
       matrix:
         ros_distro: [humble]
+        ros2_testing: [false, true] # build with main and ros-testing apt repositories
         include:
         - ros_distro: humble
-          skip_keys: ''
-          packages: 'rtabmap_ros'
+          skip_keys: '' # skip keys shoudl be empty when release on ROSDISTRO_devel branch, comment these keys in the appriopriate package.
+          # Listed packages are built with their dependencies, but only listed packages are tested.
+          packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_slam rtabmap_sync rtabmap_util rtabmap_python'
       fail-fast: false
     container:
       image: osrf/ros:${{ matrix.ros_distro }}-desktop-full
     steps:   
     - uses: actions/checkout@v4
+    - name: Remove ros2-apt-source (conflicts with ros2-testing-apt-source)
+      if: ${{ matrix.ros2_testing }}
+      run: |
+        apt-get remove -y ros2-apt-source
     - uses: ros-tooling/[email protected]
       with:
         required-ros-distributions: ${{ matrix.ros_distro }}
+        use-ros2-testing: ${{ matrix.ros2_testing }}
     - run: |
         DEBIAN_FRONTEND=noninteractive
         sudo apt update