feat(slam): add rtabmap_ros

2025-07-14 11:34:38 +08:00
parent 3b6641c1fb
commit 943ce5b06f
1635 changed files with 603092 additions and 0 deletions
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+name: CMake-ROS
+
+on:
+  push:
+    branches: 
+      - master
+  pull_request:
+    branches: 
+      - '**'
+
+env:
+  # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
+  BUILD_TYPE: Release
+
+jobs:
+  build:
+    # The CMake configure and build commands are platform agnostic and should work equally
+    # well on Windows or Mac.  You can convert this to a matrix build if you need
+    # cross-platform coverage.
+    # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
+    name: Build on ros ${{ matrix.ros_distribution }} and ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        ros_distribution: [ humble, jazzy, kilted, rolling ]
+        include:
+        - ros_distribution: 'humble'
+          os: ubuntu-22.04
+        - ros_distribution: 'jazzy'
+          os: ubuntu-24.04
+        - ros_distribution: 'kilted'
+          os: ubuntu-24.04
+        - ros_distribution: 'rolling'
+          os: ubuntu-24.04
+
+    steps:   
+    - name: Setup ROS2
+      # https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html
+      run: |
+        sudo apt install software-properties-common
+        sudo add-apt-repository universe
+        sudo apt update && sudo apt install curl -y
+        export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}')
+        curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb"
+        sudo apt install /tmp/ros2-apt-source.deb
+        sudo apt update
+
+    - uses: ros-tooling/setup-ros@v0.7
+      with:
+        required-ros-distributions: ${{ matrix.ros_distribution }}
+    
+    - uses: actions/checkout@v4
+
+    - name: Install dependencies
+      run: |
+        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
+        rosdep update
+        rosdep install --from-paths ${{github.workspace}} -y
+
+    - name: Configure CMake
+      run: |
+        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
+        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
+
+    - name: Build
+      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
+
+    - name: Info
+      working-directory: ${{github.workspace}}/build/bin
+      run: |
+        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
+        ./rtabmap-console --version
+      
@@ -0,0 +1,56 @@
+name: CMake
+
+on:
+  push:
+    branches: 
+      - master
+  pull_request:
+    branches: 
+      - '**'
+
+env:
+  BUILD_TYPE: Release
+
+jobs:
+  build:
+    name: ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-24.04, ubuntu-22.04]
+        include:
+        - os: ubuntu-22.04
+          extra_deps: "libunwind-dev libceres-dev"
+          extra_cmake_def: ""
+        - os: ubuntu-24.04
+          extra_deps: "libg2o-dev libceres-dev"
+          extra_cmake_def: "-DWITH_CERES=ON"
+
+    steps:    
+    - name: Install dependencies
+      run: |
+        DEBIAN_FRONTEND=noninteractive
+        sudo apt-get update
+        sudo apt-get -y install libopencv-dev libpcl-dev git cmake software-properties-common libyaml-cpp-dev ${{ matrix.extra_deps }}
+
+    - uses: actions/checkout@v4
+
+    - name: Configure CMake
+      run: |
+        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ${{ matrix.extra_cmake_def }}
+
+    - name: Build
+      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
+
+    - name: Info
+      working-directory: ${{github.workspace}}/build/bin
+      run: |
+        ./rtabmap-console --version
+
+#    - name: Test
+#      working-directory: ${{github.workspace}}/build
+#      # Execute tests defined by the CMake configuration.  
+#      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
+#      run: ctest -C ${{env.BUILD_TYPE}}
+      
@@ -0,0 +1,210 @@
+name: docker
+
+on:
+  push:
+    branches:
+      - 'master'
+
+jobs:
+  docker_deps:
+
+    # Disabling ###-deps step from CI because it is too flaky (seg faults, arm64 build timeout...)
+    # Only way I was able to build all images is to do it from a ubuntu 20.04 computer with:
+    #    $ sudo add-apt-repository ppa:canonical-server/server-backports
+    #    $ sudo apt-get update
+    #    $ sudo apt-get upgrade qemu-user-static
+    #    $ docker run --rm --privileged multiarch/qemu-user-static --reset -p yes -c yes
+    # More info: https://github.com/introlab/rtabmap/issues/1454
+    # if: false
+
+    runs-on: ubuntu-latest
+    
+    strategy:
+      fail-fast: false
+      matrix:
+        docker_tag: [focal-deps, jammy-deps, noble-deps, noble-kilted-deps]
+        include:
+        - docker_tag: focal-deps
+          docker_tags: |
+            introlab3it/rtabmap:focal-deps
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+          docker_path: 'focal/deps'
+        - docker_tag: jammy-deps
+          docker_tags: |
+            introlab3it/rtabmap:jammy-deps
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+          docker_path: 'jammy/deps'
+        - docker_tag: noble-deps
+          docker_tags: |
+            introlab3it/rtabmap:noble-deps
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+          docker_path: 'noble/deps'
+        - docker_tag: noble-kilted-deps
+          docker_tags: |
+            introlab3it/rtabmap:noble-kilted-deps
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+          docker_path: 'noble-kilted/deps'
+    
+    steps:
+      -
+        name: Checkout
+        uses: actions/checkout@v2
+      - 
+        name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+        with:
+          platforms: all
+      -
+        name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+      -
+        name: Login to DockerHub
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+      -
+        name: Build and push
+        uses: docker/build-push-action@v6
+        with:
+          context: .
+          push: true
+          platforms: ${{ matrix.docker_platforms }}
+          file: ./docker/${{ matrix.docker_path }}/Dockerfile
+          tags: ${{ matrix.docker_tags }}
+          cache-from: type=registry,ref=introlab3it/rtabmap:${{ matrix.docker_tag }}
+          cache-to: type=inline
+  
+  docker:
+    needs: docker_deps
+    runs-on: ubuntu-latest
+    
+    strategy:
+      fail-fast: false
+      matrix:
+        docker_tag: [bionic, focal, jammy, noble, noble-kilted, android23, android24, android26, android30]
+        include:
+        - docker_tag: bionic
+          docker_tags: |
+            introlab3it/rtabmap:bionic
+            introlab3it/rtabmap:18.04
+          docker_args: |
+            NOT_USED=0
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+          docker_path: 'bionic'
+        - docker_tag: focal
+          docker_tags: |
+            introlab3it/rtabmap:focal
+            introlab3it/rtabmap:20.04
+            introlab3it/rtabmap:latest
+          docker_args: |
+            NOT_USED=0
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+          docker_path: 'focal'
+        - docker_tag: jammy
+          docker_tags: |
+            introlab3it/rtabmap:jammy
+            introlab3it/rtabmap:22.04
+          docker_args: |
+            NOT_USED=0
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+          docker_path: 'jammy'
+        - docker_tag: noble
+          docker_tags: |
+            introlab3it/rtabmap:noble
+            introlab3it/rtabmap:24.04
+          docker_args: |
+            NOT_USED=0
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+          docker_path: 'noble'
+        - docker_tag: noble-kilted
+          docker_tags: |
+            introlab3it/rtabmap:noble-kilted
+          docker_args: |
+            NOT_USED=0
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+          docker_path: 'noble-kilted'
+        - docker_tag: android23
+          docker_tags: |
+            introlab3it/rtabmap:android23
+            introlab3it/rtabmap:tango
+          docker_args: |
+            API_VERSION=23
+          docker_platforms: |
+            linux/amd64
+          docker_path: 'noble/android/rtabmap_apiXX'
+        - docker_tag: android24
+          docker_tags: |
+            introlab3it/rtabmap:android24
+          docker_args: |
+            API_VERSION=24
+          docker_platforms: |
+            linux/amd64
+          docker_path: 'noble/android/rtabmap_apiXX'
+        - docker_tag: android26
+          docker_tags: |
+            introlab3it/rtabmap:android26
+          docker_args: |
+            API_VERSION=26
+          docker_platforms: |
+            linux/amd64
+          docker_path: 'noble/android/rtabmap_apiXX'
+        - docker_tag: android30
+          docker_tags: |
+            introlab3it/rtabmap:android30
+          docker_args: |
+            API_VERSION=30
+          docker_platforms: |
+            linux/amd64
+          docker_path: 'noble/android/rtabmap_apiXX'
+    
+    steps:
+      -
+        name: Checkout
+        uses: actions/checkout@v2
+      - 
+        name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+        with:
+          platforms: all
+      -
+        name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+      -
+        name: Login to DockerHub
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+      -
+        name: Build and push
+        uses: docker/build-push-action@v6
+        with:
+          context: .
+          push: true
+          platforms: ${{ matrix.docker_platforms }}
+          file: ./docker/${{ matrix.docker_path }}/Dockerfile
+          build-args: |
+            ${{ matrix.docker_args }}
+          tags: ${{ matrix.docker_tags }}
+          cache-from: type=registry,ref=introlab3it/rtabmap:${{ matrix.docker_tag }}
+          cache-to: type=inline
+
@@ -0,0 +1,16 @@
+name: RTAB-Map Scheduled Stats Extraction From GitHub
+
+on:
+    workflow_dispatch:
+    schedule:
+        - cron: '0 5 * * *'
+jobs:
+    get_stats:
+        runs-on: ubuntu-latest
+        steps:
+            - name: Update Stats
+              uses: introlab/github-stats-action@v1
+              with:
+                  github-stats-token: ${{ secrets.STATS_TOKEN }}
+                  google-application-credentials: ${{ secrets.GOOGLE_APPLICATION_CREDENTIALS }}
+                  spreadsheet-id: ${{ secrets.SPREADSHEET_ID }}