mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
matlabbeandmathieu86
11edc01d6a
* rtabmap_odom tests and doc * opengv note * added ci checks or humble-latest flaky dep cmake errors * Added real data tests for rgbd_odom and stereo_odom * added real data for icp_odometry's deskewing test * fixing json cmake error on lyrical/rolling * test 2d icp odom deskewing branch * first review of existing OdometryROS tests * testing with imu used as guess * tested imu arrivals sync * Fixed odom reset on right pose when guess frame id is used * fixing header errors in ci >=lyrical * Added support for input rgbd_image topic with features for odom, added multicam rgbd_odometry test * Added stereo odom support for features-only frames. Added multicam stereo tests. * forcing latest rtabmap version * updated OdometryROS API * ci: dont build non-latest docker in pull requests * splitting docker jobs * doc edit * Making publish_null_when_lost:=false continous when guess is provided (using guess covariance when we cannot register yet) * updated stereo doc * ficing rolling ci (rviz Ogre header) * Added test coverage of alll rgbd_image callbacks * fixing rolling ci * making docker ci build/run the tests on pull requests * fixing ros2 ci testing * improved sync callback coverage * improving stereo_odometry test coverage * improved icp_odometry test coverage * lyrical voxel_grid ptr error * make multicam tests working as well without opengv * removing deps of missing packages on rolling * PCL empty cloud conversion compiler errors fix * fixing icp_odometry test failure on ci witohut libpointmatcher * fixing nav2 costmap plugin build on lyrical * joining thread when exiting * updating icp test to work the same on pcl 1.15 (lyrical) * Fix parallel tests seg fault --------- Co-authored-by: mathieu86 <[email protected]>
144 lines
4.5 KiB
YAML
144 lines
4.5 KiB
YAML
name: docker-ros2
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on:
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push:
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branches: [ ros2 ]
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pull_request:
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branches: [ ros2 ]
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workflow_dispatch:
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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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# Images built from this tree (docker/*/latest), the ones a change here can break.
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docker:
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# A manual dispatch is honored only on ros2, the only ref we push from.
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if: ${{ github.event_name != 'workflow_dispatch' || github.ref == 'refs/heads/ros2' }}
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runs-on: ubuntu-latest
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strategy:
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fail-fast: false
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matrix:
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docker_tag: [humble-latest, jazzy-latest, kilted-latest, lyrical-latest]
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include:
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- docker_tag: humble-latest
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docker_path: 'humble/latest'
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docker_platforms: |
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linux/amd64
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linux/arm64
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- docker_tag: jazzy-latest
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docker_path: 'jazzy/latest'
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docker_platforms: |
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linux/amd64
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linux/arm64
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- docker_tag: kilted-latest
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docker_path: 'kilted/latest'
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docker_platforms: |
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linux/amd64
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- docker_tag: lyrical-latest
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docker_path: 'lyrical/latest'
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docker_platforms: |
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linux/amd64
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linux/arm64
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steps:
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-
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name: Checkout
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uses: actions/checkout@v4
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-
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name: Set up QEMU
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uses: docker/setup-qemu-action@v3
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with:
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platforms: all
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-
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name: Set up Docker Buildx
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uses: docker/setup-buildx-action@v3
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-
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name: Login to DockerHub
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# Only needed when pushing; skipped on pull requests (secrets are
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# unavailable for fork PRs and we don't push there anyway).
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if: github.event_name != 'pull_request'
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uses: docker/login-action@v3
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with:
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username: ${{ secrets.DOCKERHUB_USERNAME }}
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password: ${{ secrets.DOCKERHUB_TOKEN }}
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-
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name: Build and push
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uses: docker/build-push-action@v6
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with:
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context: .
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push: ${{ github.event_name != 'pull_request' }}
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platforms: ${{ github.event_name == 'pull_request' && 'linux/amd64' || matrix.docker_platforms }}
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# Run the test suites inside the image being built. Nothing of them is kept, and
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# the build fails if one does, so no image is published from a tree that fails.
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build-args: |
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RUN_TESTS=1
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file: ./docker/${{ matrix.docker_path }}/Dockerfile
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tags: introlab3it/rtabmap_ros:${{ matrix.docker_tag }}
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no-cache: true
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cache-to: type=inline
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# Images that install a released rtabmap_ros from apt (docker/<distro>): they hold
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# nothing from the tree under review, so building them on a pull request would only
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# report that the release still installs. Left to the pushes that publish them.
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docker-released:
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if: ${{ github.event_name != 'pull_request' && (github.event_name != 'workflow_dispatch' || github.ref == 'refs/heads/ros2') }}
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runs-on: ubuntu-latest
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strategy:
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fail-fast: false
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matrix:
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docker_tag: [humble, jazzy, kilted, lyrical]
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include:
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- docker_tag: humble
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docker_path: 'humble'
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docker_platforms: |
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linux/amd64
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- docker_tag: jazzy
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docker_path: 'jazzy'
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docker_platforms: |
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linux/amd64
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linux/arm64
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- docker_tag: kilted
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docker_path: 'kilted'
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docker_platforms: |
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linux/amd64
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linux/arm64
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- docker_tag: lyrical
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docker_path: 'lyrical'
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docker_platforms: |
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linux/amd64
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linux/arm64
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steps:
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-
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name: Checkout
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uses: actions/checkout@v4
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-
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name: Set up QEMU
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uses: docker/setup-qemu-action@v3
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with:
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platforms: all
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-
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name: Set up Docker Buildx
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uses: docker/setup-buildx-action@v3
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-
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name: Login to DockerHub
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uses: docker/login-action@v3
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with:
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username: ${{ secrets.DOCKERHUB_USERNAME }}
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password: ${{ secrets.DOCKERHUB_TOKEN }}
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-
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name: Build and push
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uses: docker/build-push-action@v6
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with:
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context: .
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push: true
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platforms: ${{ matrix.docker_platforms }}
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file: ./docker/${{ matrix.docker_path }}/Dockerfile
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tags: introlab3it/rtabmap_ros:${{ matrix.docker_tag }}
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no-cache: true
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cache-to: type=inline
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