ros2: Ported imu_to_tf and disparity_to_depth nodelets #128
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| name: ros2 | |
| on: | |
| push: | |
| branches: [ ros2 ] | |
| pull_request: | |
| branches: [ ros2 ] | |
| 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 ros2 ${{ matrix.ros_distro }} and ${{ matrix.os }} | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| matrix: | |
| ros_distro: [humble, iron] | |
| include: | |
| - ros_distro: 'humble' | |
| os: ubuntu-22.04 | |
| - ros_distro: 'iron' | |
| os: ubuntu-22.04 | |
| steps: | |
| - uses: ros-tooling/[email protected] | |
| with: | |
| required-ros-distributions: ${{ matrix.ros_distro }} | |
| - name: Install dependencies | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get upgrade -y | |
| sudo apt-get -y install ros-${{ matrix.ros_distro }}-rtabmap-ros | |
| sudo apt-get -y remove ros-${{ matrix.ros_distro }}-rtabmap* | |
| - name: Setup ros2 workspace | |
| run: | | |
| source /opt/ros/${{ matrix.ros_distro }}/setup.bash | |
| mkdir -p ${{github.workspace}}/ros2_ws/src | |
| cd ${{github.workspace}}/ros2_ws | |
| colcon build | |
| - uses: actions/checkout@v2 | |
| with: | |
| repository: 'introlab/rtabmap' | |
| path: 'ros2_ws/src/rtabmap' | |
| - uses: actions/checkout@v2 | |
| with: | |
| path: 'ros2_ws/src/rtabmap_ros' | |
| - name: colcon build | |
| run: | | |
| source /opt/ros/${{ matrix.ros_distro }}/setup.bash | |
| cd ${{github.workspace}}/ros2_ws | |
| rosdep update | |
| rosdep install --from-paths src --ignore-src -r -y | |
| colcon build --event-handlers console_direct+ |