Add parameter ros_map_to_cv_map_frame #357
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| name: CI | |
| on: | |
| push: | |
| branches: [ros2] | |
| pull_request: | |
| branches: [ros2] | |
| workflow_dispatch: | |
| jobs: | |
| clang-format: | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - uses: DoozyX/clang-format-lint-action@v0.12 | |
| with: | |
| source: "." | |
| exclude: "./3rd" | |
| extensions: "h,cc" | |
| clangFormatVersion: 6 | |
| style: file | |
| inplace: False | |
| build: | |
| runs-on: ubuntu-latest | |
| defaults: | |
| run: | |
| shell: bash | |
| container: | |
| image: ghcr.io/ymd-stella/stella-cv/stella_vslam-ros2:humble | |
| env: | |
| ROS_LOG_DIR: ${GITHUB_WORKSPACE}/.ros | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: recursive | |
| - name: build ros2 packages | |
| run: | | |
| mkdir -p /ros_ws/src | |
| cp -r . /ros_ws/src/stella_vslam_ros | |
| cd /ros_ws/src | |
| git clone -b main --depth 1 https://github.com/stella-cv/stella_vslam.git | |
| cd stella_vslam | |
| git submodule update -i --recursive | |
| cd ../.. | |
| export MAKEFLAGS="-j $(($(nproc) / 2))" | |
| (source /opt/ros/${ROS_DISTRO}/setup.bash && colcon build --parallel-workers 1) | |
| - name: convert rosbag | |
| run: | | |
| rosbags-convert --dst ./MH_04_difficult /datasets/EuRoC/MH_04_difficult.bag | |
| - name: run run_slam (mono) | |
| run: | | |
| (source /opt/ros/${ROS_DISTRO}/setup.bash && ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 odom base_footprint)& | |
| (source /opt/ros/${ROS_DISTRO}/setup.bash && ros2 run tf2_ros static_transform_publisher 0 0 -1.57 0 0 -1.57 base_footprint cam0)& | |
| (source /opt/ros/${ROS_DISTRO}/setup.bash && source /ros_ws/install/setup.bash && ros2 run stella_vslam_ros run_slam -v /datasets/orb_vocab/orb_vocab.fbow -c /ros_ws/src/stella_vslam/example/euroc/EuRoC_mono.yaml --map-db-out map_mono.msg --ros-args -r /camera/image_raw:=/cam0/image_raw)& | |
| (source /opt/ros/${ROS_DISTRO}/setup.bash && ros2 bag play MH_04_difficult) | |
| sleep 1 | |
| if ! pkill -0 run_slam; then exit 1; fi | |
| echo "pkill -SIGINT -f run_slam" | |
| pkill -SIGINT -f run_slam | |
| while pkill -0 run_slam 2> /dev/null; do sleep 1; done | |
| pkill -SIGINT -f static_transform_publisher | |
| - name: run slam (stereo) | |
| run: | | |
| (source /opt/ros/${ROS_DISTRO}/setup.bash && ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 odom base_footprint)& | |
| (source /opt/ros/${ROS_DISTRO}/setup.bash && ros2 run tf2_ros static_transform_publisher 0 0 -1.57 0 0 -1.57 base_footprint cam0)& | |
| (source /opt/ros/${ROS_DISTRO}/setup.bash && source /ros_ws/install/setup.bash && ros2 run stella_vslam_ros run_slam -r -v /datasets/orb_vocab/orb_vocab.fbow -c /ros_ws/src/stella_vslam/example/euroc/EuRoC_stereo.yaml --map-db-out map_stereo.msg --ros-args -r /camera/left/image_raw:=/cam0/image_raw -r /camera/right/image_raw:=/cam1/image_raw)& | |
| (source /opt/ros/${ROS_DISTRO}/setup.bash && ros2 bag play MH_04_difficult) | |
| sleep 1 | |
| if ! pkill -0 run_slam; then exit 1; fi | |
| echo "pkill -SIGINT -f run_slam" | |
| pkill -SIGINT -f run_slam | |
| while pkill -0 run_slam 2> /dev/null; do sleep 1; done | |
| pkill -SIGINT -f static_transform_publisher | |
| - name: run localization | |
| run: | | |
| (source /opt/ros/${ROS_DISTRO}/setup.bash && ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 odom base_footprint)& | |
| (source /opt/ros/${ROS_DISTRO}/setup.bash && ros2 run tf2_ros static_transform_publisher 0 0 0 -1.57 0 -1.57 base_footprint cam0)& | |
| (source /opt/ros/${ROS_DISTRO}/setup.bash && source /ros_ws/install/setup.bash && ros2 run stella_vslam_ros run_slam --disable-mapping -v /datasets/orb_vocab/orb_vocab.fbow -c /ros_ws/src/stella_vslam/example/euroc/EuRoC_mono.yaml --map-db-in map_mono.msg --ros-args -r /camera/image_raw:=/cam0/image_raw)& | |
| sleep 5 | |
| (source /opt/ros/${ROS_DISTRO}/setup.bash && ros2 bag play MH_04_difficult) | |
| pkill -SIGINT -f run_slam | |
| pkill -SIGINT -f static_transform_publisher | |
| - name: run slam offline (stereo) | |
| run: | | |
| (source /opt/ros/${ROS_DISTRO}/setup.bash && source /ros_ws/install/setup.bash && ros2 run stella_vslam_ros run_slam_offline -b MH_04_difficult -r -v /datasets/orb_vocab/orb_vocab.fbow -c /ros_ws/src/stella_vslam/example/euroc/EuRoC_stereo.yaml --map-db-out map_stereo.msg --left=/cam0/image_raw --right=/cam1/image_raw --ros-args -p publish_tf:=false) | |
| rosdep: | |
| runs-on: ubuntu-latest | |
| defaults: | |
| run: | |
| shell: bash | |
| container: | |
| image: ghcr.io/ymd-stella/stella-cv/ros:humble-ros-base | |
| env: | |
| ROS_LOG_DIR: ${GITHUB_WORKSPACE}/.ros | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: recursive | |
| - name: build ros2 packages | |
| run: | | |
| mkdir -p /ros_ws/src | |
| cp -r . /ros_ws/src/stella_vslam_ros | |
| cd /ros_ws/src | |
| git clone --depth 1 https://github.com/stella-cv/stella_vslam.git | |
| cd stella_vslam | |
| git submodule update -i --recursive | |
| cd ../.. | |
| rosdep update | |
| apt update | |
| rosdep install -y -i --from-paths src | |
| export MAKEFLAGS="-j $(($(nproc) / 2))" | |
| (source /opt/ros/${ROS_DISTRO}/setup.bash && colcon build --parallel-workers 1) |