Use message timestamp for internal timestamp (#181) #378
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| name: CI | |
| on: | |
| push: | |
| branches: [ros] | |
| pull_request: | |
| branches: [ros] | |
| workflow_dispatch: | |
| jobs: | |
| clang-format: | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - uses: DoozyX/[email protected] | |
| 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-ros:latest | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: recursive | |
| - name: install stella_vslam | |
| run: | | |
| git clone -b main --depth 1 https://github.com/stella-cv/stella_vslam.git | |
| cd stella_vslam | |
| git submodule update -i --recursive | |
| mkdir build | |
| cd build | |
| source /opt/ros/${ROS_DISTRO}/setup.bash # need to find libg2o | |
| cmake -DCMAKE_BUILD_TYPE=Debug .. | |
| make -j $(($(nproc) / 2)) | |
| make install | |
| - name: build ros packages | |
| run: | | |
| mkdir -p /ros_ws/src | |
| cp -r . /ros_ws/src/stella_vslam_ros | |
| cd /ros_ws | |
| source /opt/ros/${ROS_DISTRO}/setup.bash | |
| catkin_make -j$(($(nproc) / 2)) | |
| - name: run run_slam (mono) | |
| run: | | |
| source /ros_ws/devel/setup.bash | |
| roscore& | |
| rosrun tf2_ros static_transform_publisher 0 0 0 0 0 0 odom base_footprint& | |
| rosrun tf2_ros static_transform_publisher 0 0 0 -1.57 0.0 -1.57 base_footprint cam0& | |
| rosrun stella_vslam_ros run_slam -v /datasets/orb_vocab/orb_vocab.fbow -c stella_vslam/example/euroc/EuRoC_mono.yaml --map-db-out map_mono.msg /camera/image_raw:=/cam0/image_raw& | |
| sleep 1 | |
| rosbag play /datasets/EuRoC/MH_04_difficult.bag | |
| if ! pkill -0 run_slam; then exit 1; fi | |
| pkill -SIGINT -f run_slam | |
| while pkill -0 run_slam 2> /dev/null; do sleep 1; done | |
| pkill -SIGINT -f static_transform_publisher | |
| pkill -SIGINT roscore | |
| - name: run slam (stereo) | |
| run: | | |
| source /ros_ws/devel/setup.bash | |
| roscore& | |
| rosrun tf2_ros static_transform_publisher 0 0 0 0 0 0 odom base_footprint& | |
| rosrun tf2_ros static_transform_publisher 0 0 0 -1.57 0.0 -1.57 base_footprint cam0& | |
| rosrun stella_vslam_ros run_slam -r -v /datasets/orb_vocab/orb_vocab.fbow -c stella_vslam/example/euroc/EuRoC_stereo.yaml --map-db-out map_stereo.msg /camera/left/image_raw:=/cam0/image_raw /camera/right/image_raw:=/cam1/image_raw& | |
| sleep 1 | |
| rosbag play /datasets/EuRoC/MH_04_difficult.bag | |
| if ! pkill -0 run_slam; then exit 1; fi | |
| pkill -SIGINT -f run_slam | |
| while pkill -0 run_slam 2> /dev/null; do sleep 1; done | |
| pkill -SIGINT -f static_transform_publisher | |
| pkill -SIGINT roscore | |
| - name: run localization | |
| run: | | |
| source /ros_ws/devel/setup.bash | |
| roscore& | |
| rosrun tf2_ros static_transform_publisher 0 0 0 0 0 0 odom base_footprint& | |
| rosrun tf2_ros static_transform_publisher 0 0 0 -1.57 0.0 -1.57 base_footprint cam0& | |
| rosrun stella_vslam_ros run_slam --disable-mapping -v /datasets/orb_vocab/orb_vocab.fbow -c stella_vslam/example/euroc/EuRoC_mono.yaml --map-db-in map_mono.msg /camera/image_raw:=/cam0/image_raw& | |
| sleep 5 | |
| rosbag play /datasets/EuRoC/MH_04_difficult.bag | |
| pkill -SIGINT -f run_slam | |
| pkill -SIGINT -f static_transform_publisher | |
| pkill -SIGINT roscore | |
| rosdep: | |
| runs-on: ubuntu-latest | |
| defaults: | |
| run: | |
| shell: bash | |
| container: | |
| image: ghcr.io/ymd-stella/stella-cv/ros:noetic-ros-base-with-git | |
| env: | |
| ROS_LOG_DIR: ${GITHUB_WORKSPACE}/.ros | |
| steps: | |
| - name: Checkout stella_vslam repo | |
| uses: actions/checkout@v3 | |
| with: | |
| repository: stella-cv/stella_vslam | |
| path: stella_vslam | |
| submodules: recursive | |
| - name: install stella_vslam | |
| run: | | |
| cd stella_vslam | |
| rosdep update | |
| apt update | |
| rosdep install -y -i --from-paths . | |
| mkdir build | |
| cd build | |
| source /opt/ros/${ROS_DISTRO}/setup.bash # need to find libg2o | |
| cmake -DCMAKE_BUILD_TYPE=Debug .. | |
| make -j $(($(nproc) / 2)) | |
| make install | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: recursive | |
| - name: install dependencies for stella_vslam_ros | |
| run: | | |
| mkdir -p /ros_ws/src | |
| cp -r . /ros_ws/src/stella_vslam_ros | |
| cd /ros_ws | |
| rosdep update | |
| apt update | |
| rosdep install -y -i --from-paths src --skip-keys=stella_vslam | |
| - name: build stella_vslam_ros | |
| run: | | |
| cd /ros_ws | |
| source /opt/ros/${ROS_DISTRO}/setup.bash | |
| catkin_make -j$(($(nproc) / 2)) |