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Update main.yml

Update main.yml #23

Workflow file for this run

# This is a basic workflow to help you get started with Actions
name: cslam
# Controls when the workflow will run
on:
# Triggers the workflow on push or pull request events but only for the "main" branch
push:
branches: [ "main" ]
pull_request:
branches: [ "main" ]
# Allows you to run this workflow manually from the Actions tab
workflow_dispatch:
# A workflow run is made up of one or more jobs that can run sequentially or in parallel
jobs:
# This workflow contains a single job called "build"
build:
# The type of runner that the job will run on
runs-on: ubuntu-20.04
# Steps represent a sequence of tasks that will be executed as part of the job
steps:
- uses: actions/checkout@v2
- uses: ros-tooling/[email protected]
- name: Install Python Dependencies
run: |
pip install -r requirements.txt
- name: Install C++ Dependencies
run: |
sudo add-apt-repository ppa:borglab/gtsam-release-4.1 -y
sudo apt-get -y update
sudo apt install libgtsam-dev libgtsam-unstable-dev
- name: Build rtabmap
run: |
mkdir /root/ros2_ws; mkdir /root/ros2_ws/src
cd /root/ros2_ws
git clone https://github.com/introlab/rtabmap.git src/rtabmap
cd src/rtabmap; git checkout 0.21.1-foxy; cd ../..
git clone --branch ros2 https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
cd src/rtabmap_ros; git checkout 0.21.1-foxy; cd ../..
rosdep update && rosdep install --from-paths src --ignore-src -r -y
export MAKEFLAGS="-j6" # Can be ignored if you have a lot of RAM (>16GB)
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
- uses: ros-tooling/[email protected]
with:
package-name: cslam
import-token: ${{ secrets.SWARMSLAM_TOKEN }}
target-ros2-distro: foxy
vcs-repo-file-url: cslam.repos