Update main.yml #24
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| # This is a basic workflow to help you get started with Actions | |
| name: cslam | |
| # Controls when the workflow will run | |
| on: | |
| # Triggers the workflow on push or pull request events but only for the "main" branch | |
| push: | |
| branches: [ "main" ] | |
| pull_request: | |
| branches: [ "main" ] | |
| # Allows you to run this workflow manually from the Actions tab | |
| workflow_dispatch: | |
| # A workflow run is made up of one or more jobs that can run sequentially or in parallel | |
| jobs: | |
| # This workflow contains a single job called "build" | |
| build: | |
| # The type of runner that the job will run on | |
| runs-on: ubuntu-20.04 | |
| # Steps represent a sequence of tasks that will be executed as part of the job | |
| steps: | |
| - uses: actions/checkout@v2 | |
| - uses: ros-tooling/[email protected] | |
| - name: Install Python Dependencies | |
| run: | | |
| pip install -r requirements.txt | |
| - name: Install C++ Dependencies | |
| run: | | |
| sudo add-apt-repository ppa:borglab/gtsam-release-4.1 -y | |
| sudo apt-get -y update | |
| sudo apt install libgtsam-dev libgtsam-unstable-dev | |
| - name: Build rtabmap | |
| run: | | |
| sudo mkdir /root/ros2_ws; sudo mkdir /root/ros2_ws/src | |
| cd /root/ros2_ws | |
| sudo git clone https://github.com/introlab/rtabmap.git src/rtabmap | |
| cd src/rtabmap; git checkout 0.21.1-foxy; cd ../.. | |
| sudo git clone --branch ros2 https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros | |
| cd src/rtabmap_ros; git checkout 0.21.1-foxy; cd ../.. | |
| rosdep update && rosdep install --from-paths src --ignore-src -r -y | |
| export MAKEFLAGS="-j6" # Can be ignored if you have a lot of RAM (>16GB) | |
| sudo colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release | |
| - uses: ros-tooling/[email protected] | |
| with: | |
| package-name: cslam | |
| import-token: ${{ secrets.SWARMSLAM_TOKEN }} | |
| target-ros2-distro: foxy | |
| vcs-repo-file-url: cslam.repos |