Merge pull request #209 from rpng/develop_v2.5

Development v2.5 - New Config System, ROS2 support, and many other changes!
rpng · Dec 13, 2021 · d371eb1 · d371eb1
2 parents 83ffb88 + 5cdd24e
commit d371eb1
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diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -0,0 +1,20 @@
+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: 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
+
diff --git a/.github/workflows/build_catkin.yml b/.github/workflows/build_catkin.yml
diff --git a/.github/workflows/build_ros1.yml b/.github/workflows/build_ros1.yml
@@ -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=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && source devel/setup.bash && roslaunch ov_msckf simulation.launch verbosity:=WARNING"
diff --git a/.github/workflows/build_ros2.yml b/.github/workflows/build_ros2.yml
@@ -0,0 +1,51 @@
+name: ROS 2 Workflow
+
+on:
+  push:
+    branches: [ master ]
+  pull_request:
+
+jobs:
+  build_1804:
+    name: "ROS2 Ubuntu 18.04"
+    runs-on: ubuntu-latest
+    steps:
+      - name: Code Checkout
+        uses: actions/checkout@v2
+      - name: Create Workspace and Docker Image
+        run: |
+          export REPO=$(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"
diff --git a/CMakeLists.txt b/CMakeLists.txt
diff --git a/Dockerfile_ros1_16_04 b/Dockerfile_ros1_16_04
@@ -0,0 +1,43 @@
+FROM osrf/ros:kinetic-desktop-full
+
+# =========================================================
+# =========================================================
+
+# Are you are looking for how to use this docker file?
+#   - https://docs.openvins.com/dev-docker.html
+#   - https://docs.docker.com/get-started/
+#   - http://wiki.ros.org/docker/Tutorials/Docker
+
+# =========================================================
+# =========================================================
+
+# Dependencies we use, catkin tools is very good build system
+# Also some helper utilities for fast in terminal edits (nano etc)
+RUN apt-get update && apt-get install -y libeigen3-dev nano git
+RUN sudo apt-get install -y python-catkin-tools
+
+# Seems this has Python 2.7 installed on it...
+RUN sudo apt-get install -y python2.7-dev python-matplotlib python-numpy python-psutil python-tk
+
+# Install CMake 3.13.5
+ADD https://cmake.org/files/v3.13/cmake-3.13.5-Linux-x86_64.sh /cmake-3.13.5-Linux-x86_64.sh
+RUN mkdir /opt/cmake
+RUN sh /cmake-3.13.5-Linux-x86_64.sh --prefix=/opt/cmake --skip-license
+RUN ln -s /opt/cmake/bin/cmake /usr/local/bin/cmake
+RUN cmake --version
+
+# Install deps needed for clion remote debugging
+# https://blog.jetbrains.com/clion/2020/01/using-docker-with-clion/
+RUN apt-get update && apt-get install -y ssh build-essential gcc g++ \
+    gdb clang cmake rsync tar python && apt-get clean
+RUN ( \
+    echo 'LogLevel DEBUG2'; \
+    echo 'PermitRootLogin yes'; \
+    echo 'PasswordAuthentication yes'; \
+    echo 'Subsystem sftp /usr/lib/openssh/sftp-server'; \
+  ) > /etc/ssh/sshd_config_test_clion \
+  && mkdir /run/sshd
+RUN useradd -m user && yes password | passwd user
+RUN usermod -s /bin/bash user
+CMD ["/usr/sbin/sshd", "-D", "-e", "-f", "/etc/ssh/sshd_config_test_clion"]
+
diff --git a/Dockerfile_ros1_18_04 b/Dockerfile_ros1_18_04
@@ -0,0 +1,43 @@
+FROM osrf/ros:melodic-desktop-full
+
+# =========================================================
+# =========================================================
+
+# Are you are looking for how to use this docker file?
+#   - https://docs.openvins.com/dev-docker.html
+#   - https://docs.docker.com/get-started/
+#   - http://wiki.ros.org/docker/Tutorials/Docker
+
+# =========================================================
+# =========================================================
+
+# Dependencies we use, catkin tools is very good build system
+# Also some helper utilities for fast in terminal edits (nano etc)
+RUN apt-get update && apt-get install -y libeigen3-dev nano git
+RUN sudo apt-get install -y python-catkin-tools
+
+# Seems this has Python 3.6 installed on it...
+RUN sudo apt-get install -y python3-dev python3-matplotlib python3-numpy python3-psutil python3-tk
+
+# Install CMake 3.13.5
+ADD https://cmake.org/files/v3.13/cmake-3.13.5-Linux-x86_64.sh /cmake-3.13.5-Linux-x86_64.sh
+RUN mkdir /opt/cmake
+RUN sh /cmake-3.13.5-Linux-x86_64.sh --prefix=/opt/cmake --skip-license
+RUN ln -s /opt/cmake/bin/cmake /usr/local/bin/cmake
+RUN cmake --version
+
+# Install deps needed for clion remote debugging
+# https://blog.jetbrains.com/clion/2020/01/using-docker-with-clion/
+RUN apt-get update && apt-get install -y ssh build-essential gcc g++ \
+    gdb clang cmake rsync tar python && apt-get clean
+RUN ( \
+    echo 'LogLevel DEBUG2'; \
+    echo 'PermitRootLogin yes'; \
+    echo 'PasswordAuthentication yes'; \
+    echo 'Subsystem sftp /usr/lib/openssh/sftp-server'; \
+  ) > /etc/ssh/sshd_config_test_clion \
+  && mkdir /run/sshd
+RUN useradd -m user && yes password | passwd user
+RUN usermod -s /bin/bash user
+CMD ["/usr/sbin/sshd", "-D", "-e", "-f", "/etc/ssh/sshd_config_test_clion"]
+
diff --git a/Dockerfile → Dockerfile_ros1_20_04 b/Dockerfile → Dockerfile_ros1_20_04
@@ -12,10 +12,20 @@ FROM osrf/ros:noetic-desktop-full
 # =========================================================
 
 # Dependencies we use, catkin tools is very good build system
-# Also some helper utitiles for fast in terminal edits (nano etc)
-RUN apt-get update && apt-get install -y libeigen3-dev nano git cmake
+# Also some helper utilities for fast in terminal edits (nano etc)
+RUN apt-get update && apt-get install -y libeigen3-dev nano git
 RUN sudo apt-get install -y python3-catkin-tools python3-osrf-pycommon
 
+# Seems this has Python 3.8 installed on it...
+RUN sudo apt-get install -y python3-dev python3-matplotlib python3-numpy python3-psutil python3-tk
+
+# Install CMake 3.13.5
+ADD https://cmake.org/files/v3.13/cmake-3.13.5-Linux-x86_64.sh /cmake-3.13.5-Linux-x86_64.sh
+RUN mkdir /opt/cmake
+RUN sh /cmake-3.13.5-Linux-x86_64.sh --prefix=/opt/cmake --skip-license
+RUN ln -s /opt/cmake/bin/cmake /usr/local/bin/cmake
+RUN cmake --version
+
 # Install deps needed for clion remote debugging
 # https://blog.jetbrains.com/clion/2020/01/using-docker-with-clion/
 RUN apt-get update && apt-get install -y ssh build-essential gcc g++ \

diff --git a/Dockerfile_ros2_18_04 b/Dockerfile_ros2_18_04
@@ -0,0 +1,42 @@
+FROM osrf/ros:dashing-desktop
+
+# =========================================================
+# =========================================================
+
+# Are you are looking for how to use this docker file?
+#   - https://docs.openvins.com/dev-docker.html
+#   - https://docs.docker.com/get-started/
+#   - http://wiki.ros.org/docker/Tutorials/Docker
+
+# =========================================================
+# =========================================================
+
+# Dependencies we use, catkin tools is very good build system
+# Also some helper utilities for fast in terminal edits (nano etc)
+RUN apt-get update && apt-get install -y libeigen3-dev nano git
+
+# Seems this has Python 3.6 installed on it...
+RUN sudo apt-get install -y python3-dev python3-matplotlib python3-numpy python3-psutil python3-tk
+
+# Install CMake 3.13.5
+ADD https://cmake.org/files/v3.13/cmake-3.13.5-Linux-x86_64.sh /cmake-3.13.5-Linux-x86_64.sh
+RUN mkdir /opt/cmake
+RUN sh /cmake-3.13.5-Linux-x86_64.sh --prefix=/opt/cmake --skip-license
+RUN ln -s /opt/cmake/bin/cmake /usr/local/bin/cmake
+RUN cmake --version
+
+# Install deps needed for clion remote debugging
+# https://blog.jetbrains.com/clion/2020/01/using-docker-with-clion/
+RUN apt-get update && apt-get install -y ssh build-essential gcc g++ \
+    gdb clang cmake rsync tar python && apt-get clean
+RUN ( \
+    echo 'LogLevel DEBUG2'; \
+    echo 'PermitRootLogin yes'; \
+    echo 'PasswordAuthentication yes'; \
+    echo 'Subsystem sftp /usr/lib/openssh/sftp-server'; \
+  ) > /etc/ssh/sshd_config_test_clion \
+  && mkdir /run/sshd
+RUN useradd -m user && yes password | passwd user
+RUN usermod -s /bin/bash user
+CMD ["/usr/sbin/sshd", "-D", "-e", "-f", "/etc/ssh/sshd_config_test_clion"]
+