Use message timestamp for internal timestamp #375
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: CI | |
| on: | |
| push: | |
| branches: [ros] | |
| pull_request: | |
| branches: [ros] | |
| workflow_dispatch: | |
| jobs: | |
| clang-format: | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - uses: DoozyX/[email protected] | |
| with: | |
| source: "." | |
| exclude: "./3rd" | |
| extensions: "h,cc" | |
| clangFormatVersion: 6 | |
| style: file | |
| inplace: False | |
| build: | |
| runs-on: ubuntu-latest | |
| defaults: | |
| run: | |
| shell: bash | |
| container: | |
| image: ghcr.io/ymd-stella/stella-cv/stella_vslam-ros:latest | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: recursive | |
| - name: install stella_vslam | |
| run: | | |
| git clone -b main --depth 1 https://github.com/stella-cv/stella_vslam.git | |
| cd stella_vslam | |
| git submodule update -i --recursive | |
| mkdir build | |
| cd build | |
| source /opt/ros/${ROS_DISTRO}/setup.bash # need to find libg2o | |
| cmake -DCMAKE_BUILD_TYPE=Debug .. | |
| make -j $(($(nproc) / 2)) | |
| make install | |
| - name: build ros packages | |
| run: | | |
| mkdir -p /ros_ws/src | |
| cp -r . /ros_ws/src/stella_vslam_ros | |
| cd /ros_ws | |
| source /opt/ros/${ROS_DISTRO}/setup.bash | |
| catkin_make -j$(($(nproc) / 2)) | |
| - name: run run_slam (mono) | |
| run: | | |
| source /ros_ws/devel/setup.bash | |
| roscore& | |
| rosrun tf2_ros static_transform_publisher 0 0 0 0 0 0 odom base_footprint& | |
| rosrun tf2_ros static_transform_publisher 0 0 0 -1.57 0.0 -1.57 base_footprint cam0& | |
| rosrun stella_vslam_ros run_slam -v /datasets/orb_vocab/orb_vocab.fbow -c stella_vslam/example/euroc/EuRoC_mono.yaml --map-db-out map_mono.msg /camera/image_raw:=/cam0/image_raw& | |
| sleep 1 | |
| rosbag play /datasets/EuRoC/MH_04_difficult.bag | |
| if ! pkill -0 run_slam; then exit 1; fi | |
| pkill -SIGINT -f run_slam | |
| while pkill -0 run_slam 2> /dev/null; do sleep 1; done | |
| pkill -SIGINT -f static_transform_publisher | |
| pkill -SIGINT roscore | |
| - name: run slam (stereo) | |
| run: | | |
| source /ros_ws/devel/setup.bash | |
| roscore& | |
| rosrun tf2_ros static_transform_publisher 0 0 0 0 0 0 odom base_footprint& | |
| rosrun tf2_ros static_transform_publisher 0 0 0 -1.57 0.0 -1.57 base_footprint cam0& | |
| rosrun stella_vslam_ros run_slam -r -v /datasets/orb_vocab/orb_vocab.fbow -c stella_vslam/example/euroc/EuRoC_stereo.yaml --map-db-out map_stereo.msg /camera/left/image_raw:=/cam0/image_raw /camera/right/image_raw:=/cam1/image_raw& | |
| sleep 1 | |
| rosbag play /datasets/EuRoC/MH_04_difficult.bag | |
| if ! pkill -0 run_slam; then exit 1; fi | |
| pkill -SIGINT -f run_slam | |
| while pkill -0 run_slam 2> /dev/null; do sleep 1; done | |
| pkill -SIGINT -f static_transform_publisher | |
| pkill -SIGINT roscore | |
| - name: run localization | |
| run: | | |
| source /ros_ws/devel/setup.bash | |
| roscore& | |
| rosrun tf2_ros static_transform_publisher 0 0 0 0 0 0 odom base_footprint& | |
| rosrun tf2_ros static_transform_publisher 0 0 0 -1.57 0.0 -1.57 base_footprint cam0& | |
| rosrun stella_vslam_ros run_slam --disable-mapping -v /datasets/orb_vocab/orb_vocab.fbow -c stella_vslam/example/euroc/EuRoC_mono.yaml --map-db-in map_mono.msg /camera/image_raw:=/cam0/image_raw& | |
| sleep 5 | |
| rosbag play /datasets/EuRoC/MH_04_difficult.bag | |
| pkill -SIGINT -f run_slam | |
| pkill -SIGINT -f static_transform_publisher | |
| pkill -SIGINT roscore | |
| rosdep: | |
| runs-on: ubuntu-latest | |
| defaults: | |
| run: | |
| shell: bash | |
| container: | |
| image: ghcr.io/ymd-stella/stella-cv/ros:noetic-ros-base-with-git | |
| env: | |
| ROS_LOG_DIR: ${GITHUB_WORKSPACE}/.ros | |
| steps: | |
| - name: Checkout stella_vslam repo | |
| uses: actions/checkout@v3 | |
| with: | |
| repository: stella-cv/stella_vslam | |
| path: stella_vslam | |
| submodules: recursive | |
| - name: install stella_vslam | |
| run: | | |
| cd stella_vslam | |
| rosdep update | |
| apt update | |
| rosdep install -y -i --from-paths . | |
| mkdir build | |
| cd build | |
| source /opt/ros/${ROS_DISTRO}/setup.bash # need to find libg2o | |
| cmake -DCMAKE_BUILD_TYPE=Debug .. | |
| make -j $(($(nproc) / 2)) | |
| make install | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: recursive | |
| - name: install dependencies for stella_vslam_ros | |
| run: | | |
| mkdir -p /ros_ws/src | |
| cp -r . /ros_ws/src/stella_vslam_ros | |
| cd /ros_ws | |
| rosdep update | |
| apt update | |
| rosdep install -y -i --from-paths src --skip-keys=stella_vslam | |
| - name: build stella_vslam_ros | |
| run: | | |
| cd /ros_ws | |
| source /opt/ros/${ROS_DISTRO}/setup.bash | |
| catkin_make -j$(($(nproc) / 2)) |