Fix for the line search bug #160
Workflow file for this run
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| name: dashing | |
| on: [push, pull_request] | |
| jobs: | |
| job1: | |
| name: Build | |
| runs-on: ubuntu-18.04 | |
| steps: | |
| - name: ROS2 Install | |
| run: | | |
| # Ref: https://index.ros.org/doc/ros2/Installation/Dashing/Linux-Install-Debians/ | |
| sudo locale-gen en_US en_US.UTF-8 | |
| sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 | |
| export LANG=en_US.UTF-8 | |
| sudo apt update && sudo apt install curl gnupg2 lsb-release | |
| curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add - | |
| sudo sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list' | |
| sudo apt update | |
| sudo apt install ros-dashing-desktop | |
| source /opt/ros/dashing/setup.bash | |
| - uses: actions/checkout@v1 | |
| with: | |
| submodules: true | |
| - name: Copy repository | |
| run: | | |
| mkdir -p ~/ros2_ws/src/lidarslam_ros2 | |
| cp -rf . ~/ros2_ws/src/lidarslam_ros2 | |
| - name: Install g2o | |
| run: | | |
| mkdir ~/workspace && cd ~/workspace | |
| git clone https://github.com/RainerKuemmerle/g2o.git | |
| cd g2o | |
| mkdir -p build && cd build | |
| cmake \ | |
| -DCMAKE_BUILD_TYPE=Release \ | |
| -DCMAKE_CXX_FLAGS=-std=c++11 \ | |
| -DBUILD_SHARED_LIBS=ON \ | |
| -DBUILD_UNITTESTS=OFF \ | |
| -DBUILD_WITH_MARCH_NATIVE=ON \ | |
| -DG2O_BUILD_EXAMPLES=OFF \ | |
| -DG2O_BUILD_APPS=OFF \ | |
| -DG2O_USE_CHOLMOD=OFF \ | |
| -DG2O_USE_CSPARSE=ON \ | |
| -DG2O_USE_OPENGL=OFF \ | |
| -DG2O_USE_OPENMP=ON \ | |
| .. | |
| make -j 4 | |
| sudo make install | |
| - name: Install dependencies | |
| run: | | |
| source /opt/ros/dashing/setup.bash | |
| sudo apt install -y python-rosdep | |
| sudo rosdep init | |
| rosdep update | |
| cd ~/ros2_ws/src | |
| rosdep install -r -y --from-paths . --ignore-src | |
| - name: Build packages | |
| run: | | |
| source /opt/ros/dashing/setup.bash | |
| # Install colcon | |
| # Ref: https://index.ros.org/doc/ros2/Tutorials/Colcon-Tutorial/ | |
| sudo apt install python3-colcon-common-extensions | |
| cd ~/ros2_ws | |
| colcon build | |
| source ~/ros2_ws/install/setup.bash |