merged master->branch

introlab · Nov 24, 2023 · cdd7039 · cdd7039
2 parents 90c18bb + 7ab1ee0
commit cdd7039
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diff --git a/.appveyor.yml b/.appveyor.yml
@@ -17,6 +17,9 @@ init:
   - call "C:\Program Files (x86)\Microsoft Visual Studio 14.0\VC\vcvarsall.bat" x86_amd64
 
 install:
+  # To download from google drive
+  - set PATH=C:\Python38-x64;C:\Python38-x64\Scripts;%PATH%
+  - ps: py -m pip --disable-pip-version-check install gdown
   # Qt
   - set QTDIR=C:\Qt\5.10.1\msvc2015_64
   # make sure Qt bin path is before cmake bin path to avoid copying qt5 dlls from cmake before qt installation
@@ -73,7 +76,7 @@ install:
   - ps: "ls \"C:/Program Files/PCL\""
   - set PATH=%PATH%;C:\Program Files\PCL\bin
   # zlib
-  - ps: wget 'https://docs.google.com/uc?authuser=0&id=0B46akLGdg-uaYm9MTTI4MUtUcmc&export=download' -outfile zlib-1.2.8-vc2010-x64.zip
+  - ps: gdown -q 0B46akLGdg-uaYm9MTTI4MUtUcmc
   - ps: Expand-Archive zlib-1.2.8-vc2010-x64.zip -DestinationPath 'C:\Program Files'
   - ECHO "Installed zlib:"
   - ps: "ls \"C:/Program Files/zlib\""

diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
@@ -0,0 +1,8 @@
+{
+    "image": "introlab3it/rtabmap:20.04",
+    "customizations": {
+        "vscode": {
+          "extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools", "vscjava.vscode-java-pack"]
+        }
+      }
+}
diff --git a/.github/workflows/cmake-ros.yml b/.github/workflows/cmake-ros.yml
@@ -2,10 +2,10 @@ name: CMake-ROS
 
 on:
   push:
-    branches:
-      - '**'
+    branches: 
+      - master
   pull_request:
-    branches:
+    branches: 
       - '**'
 
 env:
@@ -22,33 +22,29 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        ros_distribution: [melodic, noetic, foxy, galactic, humble, rolling]
+        ros_distribution: [ noetic, humble, iron, rolling]
         include:
-        - ros_distribution: 'melodic' 
-          os: ubuntu-18.04
         - ros_distribution: 'noetic'
           os: ubuntu-20.04
-        - ros_distribution: 'foxy'
-          os: ubuntu-20.04
-        - ros_distribution: 'galactic'
-          os: ubuntu-20.04
         - ros_distribution: 'humble'
           os: ubuntu-22.04
+        - ros_distribution: 'iron'
+          os: ubuntu-22.04
         - ros_distribution: 'rolling'
           os: ubuntu-22.04
 
-    steps:
-    - uses: ros-tooling/setup-ros@v0.4
+    steps:   
+    - uses: ros-tooling/setup-ros@v0.6
       with:
         required-ros-distributions: ${{ matrix.ros_distribution }}
 
+    - uses: actions/checkout@v2
+
     - name: Install dependencies
       run: |
-        sudo apt-get update
-        sudo apt-get -y install ros-${{ matrix.ros_distribution }}-rtabmap
-        sudo apt-get -y remove ros-${{ matrix.ros_distribution }}-rtabmap
-
-    - uses: actions/checkout@v2
+        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
+        rosdep update
+        rosdep install --from-paths ${{github.workspace}} -y
 
     - name: Configure CMake
       run: |

diff --git a/.github/workflows/cmake.yml b/.github/workflows/cmake.yml
@@ -3,7 +3,7 @@ name: CMake
 on:
   push:
     branches: 
-      - '**'
+      - master
   pull_request:
     branches: 
       - '**'
@@ -17,14 +17,14 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [ubuntu-22.04, ubuntu-20.04, ubuntu-18.04]
+        os: [ubuntu-22.04, ubuntu-20.04]
 
     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
+        sudo apt-get -y install libopencv-dev libpcl-dev git cmake software-properties-common libyaml-cpp-dev
 
     - uses: actions/checkout@v2
 

diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
@@ -6,22 +6,72 @@ on:
       - 'master'
 
 jobs:
-  docker:
+  docker_deps:
     runs-on: ubuntu-latest
 
     strategy:
       matrix:
-        docker_tag: [xenial, bionic, focal, android23, android24, android26, android30]
+        docker_tag: [focal-deps, jammy-deps, jammy-iron-deps]
         include:
-        - docker_tag: xenial
+        - docker_tag: focal-deps
           docker_tags: |
-            introlab3it/rtabmap:xenial
-            introlab3it/rtabmap:16.04
-          docker_args: |
-            NOT_USED=0
+            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
-          docker_path: 'xenial'
+            linux/arm64
+          docker_path: 'jammy/deps'
+        - docker_tag: jammy-iron-deps
+          docker_tags: |
+            introlab3it/rtabmap:jammy-iron-deps
+          docker_platforms: |
+            linux/amd64
+          docker_path: 'jammy-iron/deps'
+
+    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: ${{ matrix.docker_tags }}
+          cache-from: type=registry,ref=introlab3it/rtabmap:${{ matrix.docker_tag }}
+          cache-to: type=inline
+
+  docker:
+    needs: docker_deps
+    runs-on: ubuntu-latest
+
+    strategy:
+      matrix:
+        docker_tag: [bionic, focal, jammy, jammy-iron, android23, android24, android26, android30]
+        include:
         - docker_tag: bionic
           docker_tags: |
             introlab3it/rtabmap:bionic
@@ -43,6 +93,24 @@ jobs:
             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: jammy-iron
+          docker_tags: |
+            introlab3it/rtabmap:jammy-iron
+          docker_args: |
+            NOT_USED=0
+          docker_platforms: |
+            linux/amd64
+          docker_path: 'jammy-iron'
         - docker_tag: android23
           docker_tags: |
             introlab3it/rtabmap:android23

diff --git a/.gitignore b/.gitignore
@@ -10,3 +10,5 @@ app/android/AndroidManifest.xml
 app/android/res/raw/
 compile_flags.txt
 tags
+build_*
+*.bak
-Original file line number
+Diff line change
@@ Expand Up / @@ -10,3 +10,5 @@ app/android/AndroidManifest.xml @@
     app/android/res/raw/
     compile_flags.txt
     tags
+    build_*
+    *.bak