localization_zoo/.github/workflows/ci.yml at main · rsasaki0109/localization_zoo · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
name: CI

on:
  push:
    branches: [main]
  pull_request:
    branches: [main]

jobs:
  build-and-test:
    runs-on: ubuntu-22.04

    steps:
      - uses: actions/checkout@v4

      - name: Install dependencies
        run: |
          sudo apt-get update
          sudo apt-get install -y \
            build-essential cmake \
            libeigen3-dev \
            libpcl-dev \
            libopencv-dev \
            libceres-dev \
            libunwind-dev \
            libgtest-dev

      - name: Install Python dependencies
        run: python3 -m pip install --upgrade pip && python3 -m pip install -r requirements-lock.txt

      - name: Configure
        run: |
          mkdir build && cd build
          cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_PYTHON_BINDINGS=ON

      - name: Build
        run: cmake --build build -j$(nproc)

      - name: Test
        run: cd build && ctest --output-on-failure

      - name: Python bindings smoke
        run: python3 python/example_synthetic.py

      - name: Dogfooding smoke (committed 3-frame MCD fixture ~3MB)
        run: |
          chmod +x evaluation/scripts/smoke_ci_fixture.sh
          bash evaluation/scripts/smoke_ci_fixture.sh

      - name: Multimodal smoke (committed 3-frame MCD fixture + visual CSVs)
        run: |
          chmod +x evaluation/scripts/smoke_multimodal_fixture.sh
          bash evaluation/scripts/smoke_multimodal_fixture.sh

      - name: 2D scan smoke (committed Intel Lab val slice, 20 frames)
        run: |
          chmod +x evaluation/scripts/smoke_scan2d_fixture.sh
          bash evaluation/scripts/smoke_scan2d_fixture.sh

      - name: 2D scan long smoke (committed MIT/Intel train slices, 20 frames)
        run: |
          chmod +x evaluation/scripts/smoke_scan2d_long_fixture.sh
          bash evaluation/scripts/smoke_scan2d_long_fixture.sh

      - name: One-command demo report
        run: |
          bash evaluation/scripts/demo_localization_zoo.sh --skip-build
          python3 evaluation/scripts/validate_showcase.py \
            --require-demo \
            --demo-dir experiments/results/runs/demo_localization_zoo

      - name: Upload demo report artifact
        if: always()
        uses: actions/upload-artifact@v4
        with:
          name: localization-zoo-demo-report
          path: experiments/results/runs/demo_localization_zoo/
          if-no-files-found: ignore
          retention-days: 14

      - name: Python script regressions
        run: python3 -m unittest discover -s tests -p 'test_*.py' -v

      - name: LiDAR v10 release contract
        run: |
          python3 -m unittest -q \
            tests/test_direction_consistent_rotation_fusion.py \
            tests/test_lidar_v10_manifest.py \
            tests/test_lidar_sota_tools.py \
            tests/test_official_kiss_pcd_odometry.py \
            tests/test_external_odometry_evaluator.py \
            tests/test_reproduce_lidar_v10.py \
            tests/test_boreas_window_tools.py

  ros2-colcon-build:
    runs-on: ubuntu-22.04
    container:
      image: ros:humble

    steps:
      - uses: actions/checkout@v4

      - name: Install ROS2 build dependencies
        run: |
          apt-get update
          apt-get install -y \
            build-essential \
            cmake \
            libeigen3-dev \
            libpcl-dev \
            libopencv-dev \
            libceres-dev \
            python3-colcon-common-extensions \
            ros-humble-ament-cmake \
            ros-humble-rclcpp \
            ros-humble-sensor-msgs \
            ros-humble-geometry-msgs \
            ros-humble-nav-msgs \
            ros-humble-std-msgs \
            ros-humble-tf2-ros \
            ros-humble-tf2-eigen \
            ros-humble-pcl-conversions \
            ros-humble-pcl-ros

      - name: Build ROS2 package
        shell: bash
        run: |
          source /opt/ros/humble/setup.bash
          cd ros2
          colcon build --packages-select localization_zoo_ros