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Merge pull request #209 from rpng/develop_v2.5
Development v2.5 - New Config System, ROS2 support, and many other changes!
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‎.github/workflows/build.yml

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name: ROS Free Workflow
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on:
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push:
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branches: [ master]
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pull_request:
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jobs:
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build:
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name: "Ubuntu Latest"
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runs-on: ubuntu-latest
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steps:
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- name: Code Checkout
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uses: actions/checkout@v2
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- name: Configure and Build
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run: |
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sudo apt-get update && sudo apt-get install -y libeigen3-dev libopencv-dev libboost-all-dev &&
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mkdir build && cd build &&
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cmake ../ov_msckf/ && make
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‎.github/workflows/build_catkin.yml

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This file was deleted.

‎.github/workflows/build_ros1.yml

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name: ROS 1 Workflow
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on:
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push:
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branches: [ master ]
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pull_request:
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jobs:
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build_1604:
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name: "ROS1 Ubuntu 16.04"
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runs-on: ubuntu-latest
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steps:
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- name: Code Checkout
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uses: actions/checkout@v2
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- name: Create Workspace and Docker Image
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run: |
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export REPO=$(basename $GITHUB_REPOSITORY) &&
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cd $GITHUB_WORKSPACE/.. && mkdir src/ &&
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mv $REPO/ src/ && mkdir $REPO/ && mv src/ $REPO/ && cd $REPO/ &&
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docker build -t openvins -f $GITHUB_WORKSPACE/src/$REPO/Dockerfile_ros1_16_04 .
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- name: Echo Enviroment
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run: |
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docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "echo $ROS_DISTRO && echo $ROS_VERSION"
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- name: Run Build in Docker
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run: |
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docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && catkin build"
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- name: Run OpenVINS Simulation!
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run: |
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docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && source devel/setup.bash && roslaunch ov_msckf simulation.launch verbosity:=WARNING"
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build_1804:
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name: "ROS1 Ubuntu 18.04"
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runs-on: ubuntu-latest
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steps:
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- name: Code Checkout
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uses: actions/checkout@v2
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- name: Create Workspace and Docker Image
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run: |
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export REPO=$(basename $GITHUB_REPOSITORY) &&
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cd $GITHUB_WORKSPACE/.. && mkdir src/ &&
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mv $REPO/ src/ && mkdir $REPO/ && mv src/ $REPO/ && cd $REPO/ &&
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docker build -t openvins -f $GITHUB_WORKSPACE/src/$REPO/Dockerfile_ros1_18_04 .
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- name: Echo Enviroment
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run: |
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docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "echo $ROS_DISTRO && echo $ROS_VERSION"
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- name: Run Build in Docker
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run: |
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docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && catkin build"
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- name: Run OpenVINS Simulation!
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run: |
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docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && source devel/setup.bash && roslaunch ov_msckf simulation.launch verbosity:=WARNING"
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build_2004:
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name: "ROS1 Ubuntu 20.04"
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runs-on: ubuntu-latest
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steps:
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- name: Code Checkout
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uses: actions/checkout@v2
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- name: Create Workspace and Docker Image
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run: |
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export REPO=$(basename $GITHUB_REPOSITORY) &&
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cd $GITHUB_WORKSPACE/.. && mkdir src/ &&
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mv $REPO/ src/ && mkdir $REPO/ && mv src/ $REPO/ && cd $REPO/ &&
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docker build -t openvins -f $GITHUB_WORKSPACE/src/$REPO/Dockerfile_ros1_20_04 .
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- name: Echo Enviroment
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run: |
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docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "echo $ROS_DISTRO && echo $ROS_VERSION"
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- name: Run Build in Docker
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run: |
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docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && catkin build"
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- name: Run OpenVINS Simulation!
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run: |
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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"

‎.github/workflows/build_ros2.yml

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name: ROS 2 Workflow
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on:
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push:
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branches: [ master ]
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pull_request:
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jobs:
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build_1804:
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name: "ROS2 Ubuntu 18.04"
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runs-on: ubuntu-latest
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steps:
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- name: Code Checkout
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uses: actions/checkout@v2
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- name: Create Workspace and Docker Image
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run: |
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export REPO=$(basename $GITHUB_REPOSITORY) &&
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cd $GITHUB_WORKSPACE/.. && mkdir src/ &&
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mv $REPO/ src/ && mkdir $REPO/ && mv src/ $REPO/ && cd $REPO/ &&
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docker build -t openvins -f $GITHUB_WORKSPACE/src/$REPO/Dockerfile_ros2_18_04 .
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- name: Echo Enviroment
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run: |
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docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "echo $ROS_DISTRO && echo $ROS_VERSION"
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- name: Run Build in Docker
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run: |
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docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && colcon build"
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# THIS SEEMS TO FAIL WITH 245 ERROR, NOT SURE WHY!!!!!
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#- name: Run OpenVINS Simulation!
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# run: |
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# docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && source install/setup.bash && ros2 run ov_msckf run_simulation src/open_vins/config/rpng_sim/estimator_config.yaml"
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build_2004:
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name: "ROS2 Ubuntu 20.04"
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runs-on: ubuntu-latest
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steps:
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- name: Code Checkout
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uses: actions/checkout@v2
37+
- name: Create Workspace and Docker Image
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run: |
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export REPO=$(basename $GITHUB_REPOSITORY) &&
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cd $GITHUB_WORKSPACE/.. && mkdir src/ &&
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mv $REPO/ src/ && mkdir $REPO/ && mv src/ $REPO/ && cd $REPO/ &&
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docker build -t openvins -f $GITHUB_WORKSPACE/src/$REPO/Dockerfile_ros2_20_04 .
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- name: Echo Enviroment
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run: |
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docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "echo $ROS_DISTRO && echo $ROS_VERSION"
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- name: Run Build in Docker
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run: |
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docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && colcon build"
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- name: Run OpenVINS Simulation!
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run: |
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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"

‎CMakeLists.txt

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This file was deleted.

‎Dockerfile_ros1_16_04

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FROM osrf/ros:kinetic-desktop-full
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# =========================================================
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# =========================================================
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# Are you are looking for how to use this docker file?
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# - https://docs.openvins.com/dev-docker.html
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# - https://docs.docker.com/get-started/
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# - http://wiki.ros.org/docker/Tutorials/Docker
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# =========================================================
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# =========================================================
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# Dependencies we use, catkin tools is very good build system
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# Also some helper utilities for fast in terminal edits (nano etc)
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RUN apt-get update && apt-get install -y libeigen3-dev nano git
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RUN sudo apt-get install -y python-catkin-tools
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# Seems this has Python 2.7 installed on it...
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RUN sudo apt-get install -y python2.7-dev python-matplotlib python-numpy python-psutil python-tk
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# Install CMake 3.13.5
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ADD https://cmake.org/files/v3.13/cmake-3.13.5-Linux-x86_64.sh /cmake-3.13.5-Linux-x86_64.sh
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RUN mkdir /opt/cmake
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RUN sh /cmake-3.13.5-Linux-x86_64.sh --prefix=/opt/cmake --skip-license
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RUN ln -s /opt/cmake/bin/cmake /usr/local/bin/cmake
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RUN cmake --version
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# Install deps needed for clion remote debugging
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# https://blog.jetbrains.com/clion/2020/01/using-docker-with-clion/
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RUN apt-get update && apt-get install -y ssh build-essential gcc g++ \
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gdb clang cmake rsync tar python && apt-get clean
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RUN ( \
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echo 'LogLevel DEBUG2'; \
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echo 'PermitRootLogin yes'; \
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echo 'PasswordAuthentication yes'; \
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echo 'Subsystem sftp /usr/lib/openssh/sftp-server'; \
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) > /etc/ssh/sshd_config_test_clion \
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&& mkdir /run/sshd
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RUN useradd -m user && yes password | passwd user
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RUN usermod -s /bin/bash user
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CMD ["/usr/sbin/sshd", "-D", "-e", "-f", "/etc/ssh/sshd_config_test_clion"]
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‎Dockerfile_ros1_18_04

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FROM osrf/ros:melodic-desktop-full
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# =========================================================
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# =========================================================
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# Are you are looking for how to use this docker file?
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# - https://docs.openvins.com/dev-docker.html
8+
# - https://docs.docker.com/get-started/
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# - http://wiki.ros.org/docker/Tutorials/Docker
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# =========================================================
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# =========================================================
13+
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# Dependencies we use, catkin tools is very good build system
15+
# Also some helper utilities for fast in terminal edits (nano etc)
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RUN apt-get update && apt-get install -y libeigen3-dev nano git
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RUN sudo apt-get install -y python-catkin-tools
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# Seems this has Python 3.6 installed on it...
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RUN sudo apt-get install -y python3-dev python3-matplotlib python3-numpy python3-psutil python3-tk
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# Install CMake 3.13.5
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ADD https://cmake.org/files/v3.13/cmake-3.13.5-Linux-x86_64.sh /cmake-3.13.5-Linux-x86_64.sh
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RUN mkdir /opt/cmake
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RUN sh /cmake-3.13.5-Linux-x86_64.sh --prefix=/opt/cmake --skip-license
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RUN ln -s /opt/cmake/bin/cmake /usr/local/bin/cmake
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RUN cmake --version
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# Install deps needed for clion remote debugging
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# https://blog.jetbrains.com/clion/2020/01/using-docker-with-clion/
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RUN apt-get update && apt-get install -y ssh build-essential gcc g++ \
32+
gdb clang cmake rsync tar python && apt-get clean
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RUN ( \
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echo 'LogLevel DEBUG2'; \
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echo 'PermitRootLogin yes'; \
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echo 'PasswordAuthentication yes'; \
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echo 'Subsystem sftp /usr/lib/openssh/sftp-server'; \
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) > /etc/ssh/sshd_config_test_clion \
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&& mkdir /run/sshd
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RUN useradd -m user && yes password | passwd user
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RUN usermod -s /bin/bash user
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CMD ["/usr/sbin/sshd", "-D", "-e", "-f", "/etc/ssh/sshd_config_test_clion"]
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‎Dockerfile ‎Dockerfile_ros1_20_04

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# =========================================================
1313

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# Dependencies we use, catkin tools is very good build system
15-
# Also some helper utitiles for fast in terminal edits (nano etc)
16-
RUN apt-get update && apt-get install -y libeigen3-dev nano git cmake
15+
# Also some helper utilities for fast in terminal edits (nano etc)
16+
RUN apt-get update && apt-get install -y libeigen3-dev nano git
1717
RUN sudo apt-get install -y python3-catkin-tools python3-osrf-pycommon
1818

19+
# Seems this has Python 3.8 installed on it...
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RUN sudo apt-get install -y python3-dev python3-matplotlib python3-numpy python3-psutil python3-tk
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# Install CMake 3.13.5
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ADD https://cmake.org/files/v3.13/cmake-3.13.5-Linux-x86_64.sh /cmake-3.13.5-Linux-x86_64.sh
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RUN mkdir /opt/cmake
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RUN sh /cmake-3.13.5-Linux-x86_64.sh --prefix=/opt/cmake --skip-license
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RUN ln -s /opt/cmake/bin/cmake /usr/local/bin/cmake
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RUN cmake --version
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1929
# Install deps needed for clion remote debugging
2030
# https://blog.jetbrains.com/clion/2020/01/using-docker-with-clion/
2131
RUN apt-get update && apt-get install -y ssh build-essential gcc g++ \

‎Dockerfile_ros2_18_04

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FROM osrf/ros:dashing-desktop
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# =========================================================
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# =========================================================
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# Are you are looking for how to use this docker file?
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# - https://docs.openvins.com/dev-docker.html
8+
# - https://docs.docker.com/get-started/
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# - http://wiki.ros.org/docker/Tutorials/Docker
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# =========================================================
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# =========================================================
13+
14+
# Dependencies we use, catkin tools is very good build system
15+
# Also some helper utilities for fast in terminal edits (nano etc)
16+
RUN apt-get update && apt-get install -y libeigen3-dev nano git
17+
18+
# Seems this has Python 3.6 installed on it...
19+
RUN sudo apt-get install -y python3-dev python3-matplotlib python3-numpy python3-psutil python3-tk
20+
21+
# Install CMake 3.13.5
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ADD https://cmake.org/files/v3.13/cmake-3.13.5-Linux-x86_64.sh /cmake-3.13.5-Linux-x86_64.sh
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RUN mkdir /opt/cmake
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RUN sh /cmake-3.13.5-Linux-x86_64.sh --prefix=/opt/cmake --skip-license
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RUN ln -s /opt/cmake/bin/cmake /usr/local/bin/cmake
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RUN cmake --version
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28+
# Install deps needed for clion remote debugging
29+
# https://blog.jetbrains.com/clion/2020/01/using-docker-with-clion/
30+
RUN apt-get update && apt-get install -y ssh build-essential gcc g++ \
31+
gdb clang cmake rsync tar python && apt-get clean
32+
RUN ( \
33+
echo 'LogLevel DEBUG2'; \
34+
echo 'PermitRootLogin yes'; \
35+
echo 'PasswordAuthentication yes'; \
36+
echo 'Subsystem sftp /usr/lib/openssh/sftp-server'; \
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) > /etc/ssh/sshd_config_test_clion \
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&& mkdir /run/sshd
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RUN useradd -m user && yes password | passwd user
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RUN usermod -s /bin/bash user
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CMD ["/usr/sbin/sshd", "-D", "-e", "-f", "/etc/ssh/sshd_config_test_clion"]
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