pi/openvins_linux
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

initial commit

Browse Source
This commit is contained in:
Иван Подмогильный
2022-08-05 08:23:25 +03:00
commit 5ecdc6abcf
387 changed files with 3010095 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

36
.github/workflows/build.yml vendored Normal file
View File

@@ -0,0 +1,36 @@
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: Installing Ceres Solver
run: |
sudo apt-get update
sudo apt-get install -y cmake libgoogle-glog-dev libgflags-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev libceres-dev
# cd ..
# git clone https://ceres-solver.googlesource.com/ceres-solver
# cd ceres-solver
# git checkout tags/2.0.0
# mkdir build
# cd build
# cmake ..
# sudo make install
# cd ../../
- name: Configure and Build
run: |
sudo apt-get update
sudo apt-get install -y libeigen3-dev libopencv-dev libboost-all-dev
mkdir build
cd build
cmake ../ov_msckf/
make

71
.github/workflows/build_ros1.yml vendored Normal file
View File

@@ -0,0 +1,71 @@
name: ROS 1 Workflow
on:
push:
branches: [ master ]
pull_request:
jobs:
build_1604:
name: "ROS1 Ubuntu 16.04"
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_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"
- name: Run OpenVINS Simulation!
run: |
docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && source devel/setup.bash && roslaunch ov_msckf simulation.launch verbosity:=WARNING"
build_1804:
name: "ROS1 Ubuntu 18.04"
runs-on: ubuntu-latest
steps:
- name: Code Checkout
uses: actions/checkout@v2
- name: Create Workspace and Docker Image
run: |
export REPO=$(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_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"
- name: Run OpenVINS Simulation!
run: |
docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && source devel/setup.bash && roslaunch ov_msckf simulation.launch verbosity:=WARNING"
build_2004:
name: "ROS1 Ubuntu 20.04"
runs-on: ubuntu-latest
steps:
- name: Code Checkout
uses: actions/checkout@v2
- name: Create Workspace and Docker Image
run: |
export REPO=$(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_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"
- 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 devel/setup.bash && roslaunch ov_msckf simulation.launch verbosity:=WARNING"

51
.github/workflows/build_ros2.yml vendored Normal file
View File

@@ -0,0 +1,51 @@
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"
# THIS SEEMS TO FAIL WITH 245 ERROR, NOT SURE WHY!!!!!
#- 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"