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

.github/workflows/ros2.yml

@@ -6,13 +6,14 @@ on:
     branches: [ rolling-devel ]
   pull_request:
     branches: [ rolling-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:
@@ -23,10 +24,11 @@ jobs:
         ros_distro: [rolling]
         include:
         - ros_distro: rolling
-          skip_keys: '' # skip keys should be empty when releasing on ROS_DISTRO_devel branch, comment these keys in the appriopriate package.
-          # rtabmap_costmap_plugins cannot be built, missing nav2 on lyrical, commented from rtabmap_ros package. 
-          # Make sure rosdistro doesn't declare rtabmap_costmap_plugins.
-          packages: rtabmap_ros
+          skip_keys: '' # skip keys shoudl be empty when release on ROSDISTRO_devel branch, comment these keys in the appriopriate package.
+          # nav2, velodyne and grid_map_ros are not available on rolling, they are commented in the appropriate packages
+          # and rtabmap_costmap_plugins is ignored (COLCON_IGNORE).
+          # 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
@@ -35,6 +37,7 @@ jobs:
     - uses: ros-tooling/[email protected]
       with:
         required-ros-distributions: ${{ matrix.ros_distro }}
+        use-ros2-testing: true # Rolling packages are only available on ros2-testing (the osrf/ros rolling image already uses it)
     - run: |
         DEBIAN_FRONTEND=noninteractive
         sudo apt update