Update main.yml

MISTLab · Aug 24, 2023 · f75f17a · f75f17a
1 parent 1637b7d
commit f75f17a
Showing 1 changed file with 10 additions and 1 deletion.
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -32,7 +32,16 @@ jobs:
               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 /ros2_ws; mkdir /ros2_ws/src
+              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