From 757fd83d1906179b486e032e3f907c6e827befdc Mon Sep 17 00:00:00 2001 From: tkazik Date: Mon, 18 Oct 2021 20:36:14 +0200 Subject: [PATCH 01/10] noetic: pcl requires C++14 --- voxblox_ros/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/voxblox_ros/CMakeLists.txt b/voxblox_ros/CMakeLists.txt index afefc8580..e3258563c 100644 --- a/voxblox_ros/CMakeLists.txt +++ b/voxblox_ros/CMakeLists.txt @@ -4,7 +4,7 @@ project(voxblox_ros) find_package(catkin_simple REQUIRED) catkin_simple(ALL_DEPS_REQUIRED) -add_definitions(-std=c++11 -Wall -Wextra) +add_definitions(-std=c++14 -Wall -Wextra) ############# # LIBRARIES # From 31c7ab9b3e8016464efdc51458a04f74ea59233c Mon Sep 17 00:00:00 2001 From: Jaeyoung-Lim Date: Mon, 25 Oct 2021 18:33:20 +0200 Subject: [PATCH 02/10] Add build tests using github actions This commit adds automated build tests using github actions for this project --- .github/workflows/build_test.yml | 56 ++++++++++++++++++++++++++++++++ voxblox_https.rosinstall | 8 +++-- voxblox_ssh.rosinstall | 4 --- 3 files changed, 61 insertions(+), 7 deletions(-) create mode 100644 .github/workflows/build_test.yml diff --git a/.github/workflows/build_test.yml b/.github/workflows/build_test.yml new file mode 100644 index 000000000..622496af2 --- /dev/null +++ b/.github/workflows/build_test.yml @@ -0,0 +1,56 @@ + +name: Build Test +on: + push: + branches: + - 'master' + pull_request: + branches: + - '*' + +jobs: + build: + runs-on: ubuntu-latest + strategy: + fail-fast: false + matrix: + config: + - {rosdistro: 'melodic', container: 'ros:melodic-ros-base-bionic'} + - {rosdistro: 'noetic', container: 'ros:noetic-ros-base-focal'} + container: ${{ matrix.config.container }} + steps: + - uses: actions/checkout@v1 + with: + token: ${{ secrets.ACCESS_TOKEN }} + github-token: ${{ secrets.GITHUB_TOKEN }} + - name: Install catkin-tools on melodic + if: ${{ matrix.config.container == 'ros:melodic-ros-base-bionic' }} + run: | + apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 + apt update && apt install -y python3-wstool python-catkin-tools + - name: Install catkin-tools on Noetic + if: ${{ matrix.config.container == 'ros:noetic-ros-base-focal' }} + run: | + apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 + apt update && apt install -y python3-pip + pip3 install osrf-pycommon + apt update && apt install -y python3-wstool python3-catkin-tools + - name: release_build_test + working-directory: + run: | + apt update + apt install -y python3-wstool autoconf libtool git + mkdir -p $HOME/catkin_ws/src; + cd $HOME/catkin_ws + catkin init + catkin config --extend "/opt/ros/${{matrix.config.rosdistro}}" + catkin config --merge-devel + cd $HOME/catkin_ws/src + ln -s $GITHUB_WORKSPACE + cd $HOME/catkin_ws + wstool init src src/voxblox/voxblox_https.rosinstall + wstool update -t src -j4 + rosdep update + rosdep install --from-paths src --ignore-src -y --rosdistro ${{matrix.config.rosdistro}} + catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release + catkin build -j$(nproc) -l$(nproc) voxblox_ros diff --git a/voxblox_https.rosinstall b/voxblox_https.rosinstall index 7260346b7..d0591f884 100644 --- a/voxblox_https.rosinstall +++ b/voxblox_https.rosinstall @@ -23,6 +23,8 @@ local-name: protobuf_catkin uri: https://github.com/ethz-asl/protobuf_catkin.git - git: - local-name: voxblox - uri: https://github.com/ethz-asl/voxblox.git - + local-name: numpy_eigen + uri: https://github.com/ethz-asl/numpy_eigen.git +- git: + local-name: catkin_boost_python_buildtool + uri: https://github.com/ethz-asl/catkin_boost_python_buildtool.git diff --git a/voxblox_ssh.rosinstall b/voxblox_ssh.rosinstall index 22a2ada6b..3028b430d 100644 --- a/voxblox_ssh.rosinstall +++ b/voxblox_ssh.rosinstall @@ -22,7 +22,3 @@ - git: local-name: protobuf_catkin uri: git@github.com:ethz-asl/protobuf_catkin.git -- git: - local-name: voxblox - uri: git@github.com:ethz-asl/voxblox.git - From dfd11d916a763ca85ca2685f2e20d28be30770ed Mon Sep 17 00:00:00 2001 From: Jaeyoung-Lim Date: Mon, 25 Oct 2021 19:55:10 +0200 Subject: [PATCH 03/10] Add catkin_grpc as dependency for Ubuntu focal --- voxblox_https.rosinstall | 3 +++ 1 file changed, 3 insertions(+) diff --git a/voxblox_https.rosinstall b/voxblox_https.rosinstall index d0591f884..9adcf377c 100644 --- a/voxblox_https.rosinstall +++ b/voxblox_https.rosinstall @@ -28,3 +28,6 @@ - git: local-name: catkin_boost_python_buildtool uri: https://github.com/ethz-asl/catkin_boost_python_buildtool.git +- git: + local-name: catkin_grpc + uri: https://github.com/CogRob/catkin_grpc.git From cd7d27861f87ef15487784de8640339d9b7e67fe Mon Sep 17 00:00:00 2001 From: Jaeyoung-Lim Date: Mon, 25 Oct 2021 20:04:56 +0200 Subject: [PATCH 04/10] Add dependencies to ssh remotes --- voxblox_ssh.rosinstall | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/voxblox_ssh.rosinstall b/voxblox_ssh.rosinstall index 3028b430d..73c7935e8 100644 --- a/voxblox_ssh.rosinstall +++ b/voxblox_ssh.rosinstall @@ -22,3 +22,12 @@ - git: local-name: protobuf_catkin uri: git@github.com:ethz-asl/protobuf_catkin.git +- git: + local-name: numpy_eigen + uri: git@github.com:ethz-asl/numpy_eigen.git +- git: + local-name: catkin_boost_python_buildtool + uri: git@github.com:ethz-asl/catkin_boost_python_buildtool.git +- git: + local-name: catkin_grpc + uri: git@github.com:CogRob/catkin_grpc.git From 48b09a16c8c2aa0e81933ae3c4e484e02e70828a Mon Sep 17 00:00:00 2001 From: Jaeyoung-Lim Date: Tue, 26 Oct 2021 10:40:07 +0200 Subject: [PATCH 05/10] Set noninteractive DEBIAN_FRONTEND F --- .github/workflows/build_test.yml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/.github/workflows/build_test.yml b/.github/workflows/build_test.yml index 622496af2..1b1afc763 100644 --- a/.github/workflows/build_test.yml +++ b/.github/workflows/build_test.yml @@ -37,6 +37,8 @@ jobs: apt update && apt install -y python3-wstool python3-catkin-tools - name: release_build_test working-directory: + env: + DEBIAN_FRONTEND: noninteractive run: | apt update apt install -y python3-wstool autoconf libtool git From a3bc249d8d31d399a2524fc3c839fed4dec657c7 Mon Sep 17 00:00:00 2001 From: Jaeyoung-Lim Date: Tue, 9 Nov 2021 14:45:11 +0100 Subject: [PATCH 06/10] Add status badge to readme --- README.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/README.md b/README.md index 1a265cddb..2c1747d6e 100644 --- a/README.md +++ b/README.md @@ -1,5 +1,7 @@ # Voxblox +[![Build Test](https://github.com/ethz-asl/voxblox/actions/workflows/build_test.yml/badge.svg)](https://github.com/ethz-asl/voxblox/actions/workflows/build_test.yml) + ![voxblox_small](https://cloud.githubusercontent.com/assets/5616392/15180357/536a8776-1781-11e6-8c1d-f2dfa34b1408.gif) Voxblox is a volumetric mapping library based mainly on Truncated Signed Distance Fields (TSDFs). It varies from other SDF libraries in the following ways: From eb914c0b7f163ecebad02f49bdc36796a9ce446c Mon Sep 17 00:00:00 2001 From: Jaeyoung-Lim Date: Tue, 9 Nov 2021 14:45:41 +0100 Subject: [PATCH 07/10] Disable ROS Noetic build tests temporarily --- .github/workflows/build_test.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/build_test.yml b/.github/workflows/build_test.yml index 1b1afc763..1e7d96ebf 100644 --- a/.github/workflows/build_test.yml +++ b/.github/workflows/build_test.yml @@ -16,7 +16,7 @@ jobs: matrix: config: - {rosdistro: 'melodic', container: 'ros:melodic-ros-base-bionic'} - - {rosdistro: 'noetic', container: 'ros:noetic-ros-base-focal'} + # - {rosdistro: 'noetic', container: 'ros:noetic-ros-base-focal'} container: ${{ matrix.config.container }} steps: - uses: actions/checkout@v1 From eefd6ed4e77f6340101765724d273b29484738c5 Mon Sep 17 00:00:00 2001 From: Alex Date: Fri, 12 Nov 2021 14:28:00 +0100 Subject: [PATCH 08/10] Move back a commit on catkin_grpc --- voxblox_https.rosinstall | 1 + voxblox_ssh.rosinstall | 1 + 2 files changed, 2 insertions(+) diff --git a/voxblox_https.rosinstall b/voxblox_https.rosinstall index 9adcf377c..a0f661b47 100644 --- a/voxblox_https.rosinstall +++ b/voxblox_https.rosinstall @@ -31,3 +31,4 @@ - git: local-name: catkin_grpc uri: https://github.com/CogRob/catkin_grpc.git + version: ea5247b21ac885ca483b1f12052e37bfa1494220 diff --git a/voxblox_ssh.rosinstall b/voxblox_ssh.rosinstall index 73c7935e8..16b645146 100644 --- a/voxblox_ssh.rosinstall +++ b/voxblox_ssh.rosinstall @@ -31,3 +31,4 @@ - git: local-name: catkin_grpc uri: git@github.com:CogRob/catkin_grpc.git + version: ea5247b21ac885ca483b1f12052e37bfa1494220 From 8c97685919c5438dc474aeb9569af28aa8c73850 Mon Sep 17 00:00:00 2001 From: Jaeyoung-Lim Date: Fri, 12 Nov 2021 14:46:04 +0100 Subject: [PATCH 09/10] Enable ros noetic on build tests --- .github/workflows/build_test.yml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/.github/workflows/build_test.yml b/.github/workflows/build_test.yml index 1e7d96ebf..5d3e11027 100644 --- a/.github/workflows/build_test.yml +++ b/.github/workflows/build_test.yml @@ -16,7 +16,7 @@ jobs: matrix: config: - {rosdistro: 'melodic', container: 'ros:melodic-ros-base-bionic'} - # - {rosdistro: 'noetic', container: 'ros:noetic-ros-base-focal'} + - {rosdistro: 'noetic', container: 'ros:noetic-ros-base-focal'} container: ${{ matrix.config.container }} steps: - uses: actions/checkout@v1 @@ -56,3 +56,4 @@ jobs: rosdep install --from-paths src --ignore-src -y --rosdistro ${{matrix.config.rosdistro}} catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release catkin build -j$(nproc) -l$(nproc) voxblox_ros + shell: bash From e9ea3a54f0b5b38b4c1b935892dc280db60fcc59 Mon Sep 17 00:00:00 2001 From: Jaeyoung-Lim Date: Sun, 21 Nov 2021 10:17:38 +0100 Subject: [PATCH 10/10] Update dependency version tag for catkin_grpc --- voxblox_https.rosinstall | 1 - voxblox_ssh.rosinstall | 1 - 2 files changed, 2 deletions(-) diff --git a/voxblox_https.rosinstall b/voxblox_https.rosinstall index a0f661b47..9adcf377c 100644 --- a/voxblox_https.rosinstall +++ b/voxblox_https.rosinstall @@ -31,4 +31,3 @@ - git: local-name: catkin_grpc uri: https://github.com/CogRob/catkin_grpc.git - version: ea5247b21ac885ca483b1f12052e37bfa1494220 diff --git a/voxblox_ssh.rosinstall b/voxblox_ssh.rosinstall index 16b645146..73c7935e8 100644 --- a/voxblox_ssh.rosinstall +++ b/voxblox_ssh.rosinstall @@ -31,4 +31,3 @@ - git: local-name: catkin_grpc uri: git@github.com:CogRob/catkin_grpc.git - version: ea5247b21ac885ca483b1f12052e37bfa1494220