adding ros2 iron CI / docker, fixing #1103

.github/workflows/cmake-ros.yml

@@ -22,12 +22,14 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        ros_distribution: [ noetic, humble, rolling]
+        ros_distribution: [ noetic, humble, iron, rolling]
         include:
         - ros_distribution: 'noetic'
           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
 

docker/jammy-iron/Dockerfile

@@ -0,0 +1,37 @@
+# Image: introlab3it/rtabmap:jammy-iron
+
+FROM introlab3it/rtabmap:jammy-iron-deps
+
+# June 19 2023: moved opengv here so that jammy-deps can be built on my computer. Not sure why but on my machine opengv arm64 fails, but not on CI.
+#commit Aug 6 2020
+RUN apt-get update && apt install -y wget && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+RUN git clone https://github.com/laurentkneip/opengv.git && \
+    cd opengv && \
+    git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3 && \
+    wget https://gist.githubusercontent.com/matlabbe/a412cf7c4627253874f81a00745a7fbb/raw/accc3acf465d1ffd0304a46b17741f62d4d354ef/opengv_disable_march_native.patch && \
+    git apply opengv_disable_march_native.patch && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r opengv
+
+# Will be used to read/store databases on host
+RUN mkdir -p /root/Documents/RTAB-Map && chmod 777 /root/Documents/RTAB-Map
+
+# Copy current source code
+COPY . /root/rtabmap
+
+# Build RTAB-Map project
+RUN source /ros_entrypoint.sh && \
+    cd rtabmap/build && \
+    cmake -DWITH_OPENGV=ON .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../.. && \
+    rm -rf rtabmap && \
+    ldconfig
+

docker/jammy-iron/deps/Dockerfile

@@ -0,0 +1,88 @@
+# Image: introlab3it/rtabmap:jammy-iron-deps
+
+FROM ubuntu:22.04
+
+# Install ROS2
+RUN apt update && \
+    apt install software-properties-common -y && \
+    add-apt-repository universe && \
+    apt update && \
+    apt install curl -y && \
+    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install build dependencies
+RUN apt-get update && \
+    apt upgrade -y && \
+    apt-get install -y git ros-iron-ros-base ros-dev-tools ros-iron-rtabmap-ros && \
+    apt-get remove -y ros-iron-rtabmap* && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+WORKDIR /root/
+
+# PDAL
+RUN apt-get update && apt-get install -y libpdal-dev && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+# RealSense2
+RUN apt-get update && apt-get install -y ros-iron-librealsense2 && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+ARG TARGETPLATFORM
+ENV TARGETPLATFORM=${TARGETPLATFORM:-linux/amd64}
+RUN echo "I am building for $TARGETPLATFORM"
+
+# libfreenect2 
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing libfreenect2..." && \
+    apt-get update && apt-get install -y mesa-utils xserver-xorg-video-all libusb-1.0-0-dev libturbojpeg0-dev libglfw3-dev && \
+    apt-get clean && rm -rf /var/lib/apt/lists/ && \
+    git clone https://github.com/OpenKinect/libfreenect2 && \
+    cd libfreenect2 && \
+    mkdir build && \
+    cd build && \
+    cmake .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r libfreenect2; fi
+
+# zed open capture
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then echo "Installing zed-open-capture..." && \
+    apt-get update && apt install -y libusb-1.0-0-dev libhidapi-libusb0 libhidapi-dev wget && \
+    apt-get clean && rm -rf /var/lib/apt/lists/ && \
+    git clone https://github.com/stereolabs/zed-open-capture.git && \
+    cd zed-open-capture && \
+    mkdir build && \
+    cd build && \
+    cmake .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd && \
+    rm -r zed-open-capture; fi
+
+RUN git clone --branch 4.5.4 https://github.com/opencv/opencv.git && \
+    git clone --branch 4.5.4 https://github.com/opencv/opencv_contrib.git && \
+    cd opencv && \
+    mkdir build && \
+    cd build && \
+    cmake -DBUILD_opencv_python3=OFF -DBUILD_opencv_python_bindings_generator=OFF -DBUILD_opencv_python_tests=OFF -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF -DOPENCV_ENABLE_NONFREE=ON -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules .. && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../.. && \
+    rm -rf opencv opencv_contrib
+
+RUN rm /bin/sh && ln -s /bin/bash /bin/sh
+
+COPY ./docker/jammy/deps/ros_entrypoint.sh /ros_entrypoint.sh
+RUN chmod +x /ros_entrypoint.sh
+ENTRYPOINT [ "/ros_entrypoint.sh" ]
+
+# ros2 seems not sourcing by default its multi-arch folders
+ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/iron/lib/x86_64-linux-gnu:/opt/ros/iron/lib/aarch64-linux-gnu
+
+# for jetson (https://github.com/introlab/rtabmap/issues/776)
+ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/aarch64-linux-gnu/tegra
+

docker/jammy-iron/deps/ros_entrypoint.sh

@@ -0,0 +1,6 @@
+#!/bin/bash
+set -e
+
+# setup ros2 environment
+source "/opt/ros/iron/setup.bash" --
+exec "$@"

package.xml

@@ -14,9 +14,7 @@
 
   <build_depend>proj</build_depend>
   <depend>cv_bridge</depend>
-  <depend>libfreenect-dev</depend>
   <depend>libg2o</depend>
-  <depend>libopenni-dev</depend>
   <!-- <depend>libopenni2-dev</depend> --> <!-- not available on Jessie -->
   <depend>libpcl-all-dev</depend> <!--  include libvtk-qt -->
   <depend>libpointmatcher</depend> <!-- optional but recommended if lidar is used, also not available on 32 bits system, but rtabmap can be built without it -->