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
@@ -0,0 +1,71 @@
+name: docker
+
+on:
+  push:
+    branches:
+      - 'ros2'
+
+jobs:
+  docker:
+    runs-on: ubuntu-latest
+    
+    strategy:
+      fail-fast: false
+      matrix:
+        docker_tag: [humble, humble-latest, jazzy, jazzy-latest, kilted-latest]
+        include:
+        - docker_tag: humble
+          docker_path: 'humble'
+          docker_platforms: |
+            linux/amd64
+        - docker_tag: humble-latest
+          docker_path: 'humble/latest'
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+        - docker_tag: jazzy
+          docker_path: 'jazzy'
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+        - docker_tag: jazzy-latest
+          docker_path: 'jazzy/latest'
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+        - docker_tag: kilted-latest
+          docker_path: 'kilted/latest'
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+    
+    steps:
+      -
+        name: Checkout
+        uses: actions/checkout@v4
+      -
+        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: introlab3it/rtabmap_ros:${{ matrix.docker_tag }}
+          no-cache: true
+          cache-to: type=inline
+
@@ -0,0 +1,65 @@
+name: docker
+
+on:
+  push:
+    branches:
+      - 'master'
+
+jobs:
+  docker:
+    runs-on: ubuntu-latest
+    
+    strategy:
+      matrix:
+        docker_tag: [kinetic, melodic, noetic, noetic-latest]
+        include:
+        - docker_tag: kinetic
+          docker_path: 'kinetic'
+          docker_platforms: |
+            linux/amd64
+        - docker_tag: melodic
+          docker_path: 'melodic'
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+        - docker_tag: noetic
+          docker_path: 'noetic'
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+        - docker_tag: noetic-latest
+          docker_path: 'noetic/latest'
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+    
+    steps:
+      -
+        name: Checkout
+        uses: actions/checkout@v2
+      -
+        name: Set up QEMU
+        uses: docker/setup-qemu-action@v1
+        with:
+          platforms: all
+      -
+        name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v1
+      -
+        name: Login to DockerHub
+        uses: docker/login-action@v1
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+      -
+        name: Build and push
+        uses: docker/build-push-action@v2
+        with:
+          context: .
+          push: true
+          platforms: ${{ matrix.docker_platforms }}
+          file: ./docker/${{ matrix.docker_path }}/Dockerfile
+          tags: introlab3it/rtabmap_ros:${{ matrix.docker_tag }}
+          cache-from: type=registry,ref=introlab3it/rtabmap_ros:${{ matrix.docker_tag }}
+          cache-to: type=inline
+
@@ -0,0 +1,43 @@
+
+name: ros2
+
+on:
+  push:
+    branches: [ ros2 ]
+  pull_request:
+    branches: [ ros2 ]
+
+env:
+  BUILD_TYPE: Release
+
+jobs:
+  build:
+    name: Build ros2 ${{ matrix.ros_distro }}
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        ros_distro: [humble, jazzy, kilted]
+        include:
+        - ros_distro: humble
+          skip_keys: ''
+        - ros_distro: jazzy
+          skip_keys: ''
+        - ros_distro: kilted
+          skip_keys: 'nav2_bringup nav2_msgs'
+      fail-fast: false
+    container:
+      image: osrf/ros:${{ matrix.ros_distro }}-desktop-full
+    steps:   
+    - uses: actions/checkout@v4
+    - uses: ros-tooling/setup-ros@v0.7
+      with:
+        required-ros-distributions: ${{ matrix.ros_distro }}
+    - run: |
+        echo "repositories:\n  introlab/rtabmap:\n    type: git\n    url: https://github.com/introlab/rtabmap.git\n    version: master\n" > /tmp/deps.repos &&\
+        cat /tmp/deps.repos
+    - uses: ros-tooling/action-ros-ci@v0.4
+      with:
+        package-name: rtabmap_ros
+        target-ros2-distro: ${{ matrix.ros_distro }}
+        vcs-repo-file-url: /tmp/deps.repos
+        rosdep-skip-keys: "${{ matrix.skip_keys }}"
@@ -0,0 +1,16 @@
+name: RTAB-Map ROS 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 }}