mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-06 01:37:46 +08:00
Matthew Kotara
254ca3b667
Replace the standalone reproducer with registered C++ GoogleTests for 2D and 3D scan recovery. Use real ROS inputs, separate DDS domains and bounded timeouts, and include rtabmap_slam in supported CI and coverage jobs. Validated on Jazzy with RTAB-Map core 9ed83a7: both negative controls fail map recovery without the unlocks; both pass with the fix, followed by five repeated runs per case (10/10 passed). Broader distro CI has not been run locally.
70 lines
2.8 KiB
YAML
70 lines
2.8 KiB
YAML
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name: 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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env:
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BUILD_TYPE: Release
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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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build:
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name: Build ros2 ${{ matrix.ros_distro }}
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runs-on: ubuntu-latest
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strategy:
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matrix:
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ros_distro: [humble, jazzy, kilted, lyrical, rolling]
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include:
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- ros_distro: humble
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skip_keys: ''
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packages: 'rtabmap_slam rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_sync rtabmap_util rtabmap_python'
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- ros_distro: jazzy
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skip_keys: ''
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packages: 'rtabmap_slam rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_sync rtabmap_util rtabmap_python'
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- ros_distro: kilted
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skip_keys: 'grid_map_ros'
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packages: 'rtabmap_slam rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_sync rtabmap_util rtabmap_python'
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- ros_distro: lyrical
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skip_keys: 'velodyne grid_map_ros libpointmatcher'
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packages: 'rtabmap_slam rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_sync rtabmap_util rtabmap_python'
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- ros_distro: rolling
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# Rolling has moved to Ubuntu resolute and much of it has not been rebuilt for
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# that yet, so rosdep finds nothing to install for these. They are all optional
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# to rtabmap, which just builds without them.
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skip_keys: 'velodyne libpointmatcher gtsam grid_map_ros'
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use_ros2_testing: true # Rolling is using ros2-testing (nightly)
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# nav2 is missing from resolute too, and it is not optional: rtabmap_slam and
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# rtabmap_costmap_plugins need it to compile at all, and the rtabmap_ros
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# metapackage pulls both in. So rolling names the packages it can build.
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packages: 'rtabmap_conversions rtabmap_odom rtabmap_sync rtabmap_util rtabmap_python'
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fail-fast: false
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container:
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image: osrf/ros:${{ matrix.ros_distro }}-desktop-full
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steps:
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- uses: actions/checkout@v4
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- uses: ros-tooling/[email protected]
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with:
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required-ros-distributions: ${{ matrix.ros_distro }}
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use-ros2-testing: ${{ matrix.use_ros2_testing || false }}
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- run: |
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DEBIAN_FRONTEND=noninteractive
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sudo apt update
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sudo apt upgrade -y
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- run: |
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echo "repositories:\n introlab/rtabmap:\n type: git\n url: https://github.com/introlab/rtabmap.git\n version: master\n" > /tmp/deps.repos &&\
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cat /tmp/deps.repos
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- uses: ros-tooling/[email protected]
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with:
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package-name: ${{ matrix.packages }}
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target-ros2-distro: ${{ matrix.ros_distro }}
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vcs-repo-file-url: /tmp/deps.repos
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rosdep-skip-keys: "${{ matrix.skip_keys }}"
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