[Refactor] Delegate GridMap/Marker conversion to nanoGrid bridge #27
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| name: build | |
| on: [push, pull_request] | |
| jobs: | |
| core: | |
| name: C++ Core | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - run: sudo apt-get install -y libeigen3-dev libyaml-cpp-dev libspdlog-dev | |
| - run: | | |
| cd fastdem && mkdir -p build && cd build | |
| cmake .. -DBUILD_TESTS=ON -DCMAKE_BUILD_TYPE=Release | |
| make -j$(nproc) | |
| ctest --output-on-failure | |
| ros1: | |
| name: ROS1 Noetic | |
| runs-on: ubuntu-latest | |
| container: ros:noetic-ros-base | |
| defaults: | |
| run: | |
| shell: bash | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - run: | | |
| apt-get update -qq | |
| apt-get install -y -qq git libeigen3-dev libyaml-cpp-dev libspdlog-dev | |
| apt-get install -y -qq ros-noetic-grid-map-msgs ros-noetic-tf2-ros ros-noetic-tf2-eigen | |
| - run: | | |
| cd fastdem && mkdir -p build && cd build | |
| cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/fastdem | |
| make -j$(nproc) | |
| make install | |
| - run: | | |
| source /opt/ros/noetic/setup.bash | |
| export CMAKE_PREFIX_PATH=/opt/fastdem:$CMAKE_PREFIX_PATH | |
| mkdir -p /tmp/catkin_ws/src | |
| ln -s $GITHUB_WORKSPACE/ros1 /tmp/catkin_ws/src/fastdem_ros | |
| cd /tmp/catkin_ws | |
| catkin_make --cmake-args -DCMAKE_BUILD_TYPE=Release | |
| ros2: | |
| name: ROS2 Humble | |
| runs-on: ubuntu-latest | |
| container: ros:humble-ros-base | |
| defaults: | |
| run: | |
| shell: bash | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - run: | | |
| apt-get update -qq | |
| apt-get install -y -qq git libeigen3-dev libyaml-cpp-dev libspdlog-dev | |
| apt-get install -y -qq ros-humble-grid-map-msgs ros-humble-tf2-ros ros-humble-tf2-eigen | |
| - run: | | |
| cd fastdem && mkdir -p build && cd build | |
| cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/fastdem | |
| make -j$(nproc) | |
| make install | |
| - run: | | |
| source /opt/ros/humble/setup.bash | |
| export CMAKE_PREFIX_PATH=/opt/fastdem:$CMAKE_PREFIX_PATH | |
| mkdir -p /tmp/ros2_ws/src | |
| ln -s $GITHUB_WORKSPACE/ros2 /tmp/ros2_ws/src/fastdem_ros2 | |
| cd /tmp/ros2_ws | |
| colcon build --packages-up-to fastdem_ros2 |