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]>
38 lines
1.6 KiB
Docker
38 lines
1.6 KiB
Docker
FROM introlab3it/rtabmap:noble-kilted
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RUN source /ros_entrypoint.sh && \
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mkdir -p ros2_ws/src && \
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cd ros2_ws/src
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COPY . ros2_ws/src/rtabmap_ros
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# No rosdep "-r": a bad mirror must fail here.
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RUN source /ros_entrypoint.sh && \
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cd ros2_ws && \
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echo 'Acquire::Retries "5";' > /etc/apt/apt.conf.d/80-retries && \
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rosdep init && \
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rosdep update && \
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apt-get update && \
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rosdep install --from-paths src --ignore-src -y -t build_export -t test -t build -t buildtool_export -t buildtool --skip-keys="rtabmap nav2_bringup realsense2_camera nav2_msgs grid_map_ros" && \
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bash src/rtabmap_ros/docker/verify_deps.sh && \
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apt-get clean && rm -rf /var/lib/apt/lists/
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# Tests run in the build layer, before the workspace is deleted, so none of them reach
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# the image. CI asks for them; a target that is not the architecture being built on
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# skips them, that one being emulated. Only buildx sets BUILDPLATFORM, so anything
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# else building with RUN_TESTS=1 runs them.
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ARG RUN_TESTS=0
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ARG BUILDPLATFORM
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ARG TARGETPLATFORM
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RUN source /ros_entrypoint.sh && \
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cd ros2_ws && \
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export MAKEFLAGS="-j2" && \
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colcon build --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
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if [ "$RUN_TESTS" = "1" ] && [ "${BUILDPLATFORM:-$TARGETPLATFORM}" = "$TARGETPLATFORM" ]; then \
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colcon test --executor sequential --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install && \
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colcon test-result --verbose; \
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fi && \
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cd && \
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rm -rf ros2_ws
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