more workflows and fix ros-free build

rpng · Dec 13, 2021 · ae0276f · ae0276f
1 parent df93c2b
commit ae0276f
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Showing 5 changed files with 106 additions and 4 deletions.
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -0,0 +1,20 @@
+name: ROS Free Workflow
+
+on:
+  push:
+    branches: [ master]
+  pull_request:
+
+jobs:
+  build:
+    name: "Ubuntu Latest"
+    runs-on: ubuntu-latest
+    steps:
+      - name: Code Checkout
+        uses: actions/checkout@v2
+      - name: Configure and Build
+        run: |
+          apt-get update && apt-get install -y libeigen3-dev &&
+          mkdir build && cd build &&
+          cmake ../ov_msckf/ && make
+
diff --git a/.github/workflows/build_ros1.yml b/.github/workflows/build_ros1.yml
@@ -18,6 +18,9 @@ jobs:
           cd $GITHUB_WORKSPACE/.. && mkdir src/ &&
           mv $REPO/ src/ && mkdir $REPO/ && mv src/ $REPO/ && cd $REPO/ &&
           docker build -t openvins -f $GITHUB_WORKSPACE/src/$REPO/Dockerfile_ros1_16_04 .
+      - name: Echo Enviroment
+        run: |
+          docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "echo $ROS_DISTRO && echo $ROS_VERSION"
       - name: Run Build in Docker
         run: |
           docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && catkin build"
@@ -36,6 +39,9 @@ jobs:
           cd $GITHUB_WORKSPACE/.. && mkdir src/ &&
           mv $REPO/ src/ && mkdir $REPO/ && mv src/ $REPO/ && cd $REPO/ &&
           docker build -t openvins -f $GITHUB_WORKSPACE/src/$REPO/Dockerfile_ros1_18_04 .
+      - name: Echo Enviroment
+        run: |
+          docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "echo $ROS_DISTRO && echo $ROS_VERSION"
       - name: Run Build in Docker
         run: |
           docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && catkin build"
@@ -54,6 +60,9 @@ jobs:
           cd $GITHUB_WORKSPACE/.. && mkdir src/ &&
           mv $REPO/ src/ && mkdir $REPO/ && mv src/ $REPO/ && cd $REPO/ &&
           docker build -t openvins -f $GITHUB_WORKSPACE/src/$REPO/Dockerfile_ros1_20_04 .
+      - name: Echo Enviroment
+        run: |
+          docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "echo $ROS_DISTRO && echo $ROS_VERSION"
       - name: Run Build in Docker
         run: |
           docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && catkin build"

diff --git a/.github/workflows/build_ros2.yml b/.github/workflows/build_ros2.yml
@@ -0,0 +1,50 @@
+name: ROS 2 Workflow
+
+on:
+  push:
+    branches: [ master ]
+  pull_request:
+
+jobs:
+  build_1804:
+    name: "ROS2 Ubuntu 18.04"
+    runs-on: ubuntu-latest
+    steps:
+      - name: Code Checkout
+        uses: actions/checkout@v2
+      - name: Create Workspace and Docker Image
+        run: |
+          export REPO=$(basename $GITHUB_REPOSITORY) &&
+          cd $GITHUB_WORKSPACE/.. && mkdir src/ &&
+          mv $REPO/ src/ && mkdir $REPO/ && mv src/ $REPO/ && cd $REPO/ &&
+          docker build -t openvins -f $GITHUB_WORKSPACE/src/$REPO/Dockerfile_ros2_18_04 .
+      - name: Echo Enviroment
+        run: |
+          docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "echo $ROS_DISTRO && echo $ROS_VERSION"
+      - name: Run Build in Docker
+        run: |
+          docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && colcon build"
+      - name: Run OpenVINS Simulation!
+        run: |
+          docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && source install/setup.bash && ros2 run ov_msckf run_simulation src/open_vins/config/rpng_sim/estimator_config.yaml"
+  build_2004:
+    name: "ROS2 Ubuntu 20.04"
+    runs-on: ubuntu-latest
+    steps:
+      - name: Code Checkout
+        uses: actions/checkout@v2
+      - name: Create Workspace and Docker Image
+        run: |
+          export REPO=$(basename $GITHUB_REPOSITORY) &&
+          cd $GITHUB_WORKSPACE/.. && mkdir src/ &&
+          mv $REPO/ src/ && mkdir $REPO/ && mv src/ $REPO/ && cd $REPO/ &&
+          docker build -t openvins -f $GITHUB_WORKSPACE/src/$REPO/Dockerfile_ros2_20_04 .
+      - name: Echo Enviroment
+        run: |
+          docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "echo $ROS_DISTRO && echo $ROS_VERSION"
+      - name: Run Build in Docker
+        run: |
+          docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && colcon build"
+      - name: Run OpenVINS Simulation!
+        run: |
+          docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && source install/setup.bash && ros2 run ov_msckf run_simulation src/open_vins/config/rpng_sim/estimator_config.yaml"
diff --git a/ov_msckf/cmake/ROS1.cmake b/ov_msckf/cmake/ROS1.cmake
@@ -35,15 +35,34 @@ list(APPEND thirdparty_libraries
 
 # If we are not building with ROS then we need to manually link to its headers
 # This isn't that elegant of a way, but this at least allows for building without ROS
-# See this stackoverflow answer: https://stackoverflow.com/a/11217008/7718197
+# If we had a root cmake we could do this: https://stackoverflow.com/a/11217008/7718197
+# But since we don't we need to basically build all the cpp / h files explicitly :(
 if (NOT catkin_FOUND OR NOT ENABLE_ROS)
+
     message(WARNING "MANUALLY LINKING TO OV_CORE LIBRARY....")
-    message(WARNING ${ov_core_SOURCE_DIR})
     include_directories(${CMAKE_SOURCE_DIR}/../ov_core/src/)
-    list(APPEND thirdparty_libraries ov_core_lib)
+    file(GLOB_RECURSE ov_core_files "${CMAKE_SOURCE_DIR}/../ov_core/src/cam/*.cpp")
+    list(APPEND library_source_files ${ov_core_files})
+    file(GLOB_RECURSE ov_core_files "${CMAKE_SOURCE_DIR}/../ov_core/src/cpi/*.cpp")
+    list(APPEND library_source_files ${ov_core_files})
+    file(GLOB_RECURSE ov_core_files "${CMAKE_SOURCE_DIR}/../ov_core/src/feat/*.cpp")
+    list(APPEND library_source_files ${ov_core_files})
+    file(GLOB_RECURSE ov_core_files "${CMAKE_SOURCE_DIR}/../ov_core/src/plot/*.cpp")
+    list(APPEND library_source_files ${ov_core_files})
+    file(GLOB_RECURSE ov_core_files "${CMAKE_SOURCE_DIR}/../ov_core/src/sim/*.cpp")
+    list(APPEND library_source_files ${ov_core_files})
+    file(GLOB_RECURSE ov_core_files "${CMAKE_SOURCE_DIR}/../ov_core/src/track/*.cpp")
+    list(APPEND library_source_files ${ov_core_files})
+    file(GLOB_RECURSE ov_core_files "${CMAKE_SOURCE_DIR}/../ov_core/src/types/*.cpp")
+    list(APPEND library_source_files ${ov_core_files})
+    file(GLOB_RECURSE ov_core_files "${CMAKE_SOURCE_DIR}/../ov_core/src/utils/*.cpp")
+    list(APPEND library_source_files ${ov_core_files})
+
     message(WARNING "MANUALLY LINKING TO OV_INIT LIBRARY....")
     include_directories(${CMAKE_SOURCE_DIR}/../ov_init/src/)
-    list(APPEND thirdparty_libraries ov_init_lib)
+    file(GLOB_RECURSE ov_init_files "${CMAKE_SOURCE_DIR}/../ov_init/src/*.[hc]pp")
+    list(APPEND library_source_files ${ov_init_files})
+
 endif ()
 
 ##################################################

diff --git a/ov_msckf/src/run_simulation.cpp b/ov_msckf/src/run_simulation.cpp
@@ -177,6 +177,10 @@ int main(int argc, char **argv) {
   viz->visualize_final();
 #endif
 
+#if ROS_AVAILABLE == 2
+  rclcpp::shutdown();
+#endif
+
   // Done!
   return EXIT_SUCCESS;
 }