Move CI workflows to github actions

.github/workflows/main.yml

@@ -6,7 +6,7 @@ on:
   - workflow_dispatch
 
 jobs:
-  build:
+  clang-format:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v2
@@ -18,3 +18,67 @@ jobs:
           clangFormatVersion: 6
           style: file
           inplace: False
+
+  build:
+    runs-on: ubuntu-latest
+    defaults:
+      run:
+        shell: bash
+    container:
+      image: ghcr.io/ymd-stella/openvslam-community/openvslam-ros2:galactic
+    steps:
+      - uses: actions/checkout@v2
+      - name: build ros2 packages
+        run: |
+          mkdir -p ../ros_ws/src
+          cp -r . ../ros_ws/src/openvslam_ros
+          cd ../ros_ws/src
+          git clone --depth 1 https://github.com/OpenVSLAM-Community/openvslam.git
+          cd openvslam
+          git submodule update -i --recursive
+          cd ../..
+          export MAKEFLAGS="-j $(($(nproc) / 2))"
+          (source /opt/ros/${ROS2_DISTRO}/setup.bash && colcon build --parallel-workers 1)
+      - name: run run_slam
+        run: |
+          (source /opt/ros/${ROS2_DISTRO}/setup.bash && ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 odom base_link)&
+          (source /opt/ros/${ROS2_DISTRO}/setup.bash && ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 base_link cam0)&
+          (source /opt/ros/${ROS2_DISTRO}/setup.bash && source ../ros_ws/install/setup.bash && ros2 run openvslam_ros run_slam -v /datasets/orb_vocab/orb_vocab.fbow -c ../ros_ws/src/openvslam/example/euroc/EuRoC_mono.yaml --map-db map.msg --ros-args -r /camera/image_raw:=/cam0/image_raw)&
+          (source /opt/ros/${ROS1_DISTRO}/setup.bash && source /opt/ros/${ROS2_DISTRO}/setup.bash && ros2 bag play -s rosbag_v2 /datasets/EuRoC/MH_04_difficult.bag)
+          sleep 1
+          echo "pkill -SIGINT -f run_slam"
+          pkill -SIGINT -f run_slam
+          sleep 10
+          pkill -SIGINT -f static_transform_publisher
+      - name: run run_localization
+        run: |
+          (source /opt/ros/${ROS2_DISTRO}/setup.bash && ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 odom base_link)&
+          (source /opt/ros/${ROS2_DISTRO}/setup.bash && ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 base_link cam0)&
+          (source /opt/ros/${ROS2_DISTRO}/setup.bash && source ../ros_ws/install/setup.bash && ros2 run openvslam_ros run_localization -v /datasets/orb_vocab/orb_vocab.fbow -c ../ros_ws/src/openvslam/example/euroc/EuRoC_mono.yaml --map-db map.msg --ros-args -r /camera/image_raw:=/cam0/image_raw)&
+          sleep 5
+          (source /opt/ros/${ROS1_DISTRO}/setup.bash && source /opt/ros/${ROS2_DISTRO}/setup.bash && ros2 bag play -s rosbag_v2 /datasets/EuRoC/MH_04_difficult.bag)
+          pkill -SIGINT -f run_localization
+          pkill -SIGINT -f static_transform_publisher
+
+  rosdep:
+    runs-on: ubuntu-latest
+    defaults:
+      run:
+        shell: bash
+    container:
+      image: ghcr.io/ymd-stella/openvslam-community/ros:galactic-ros-base
+    steps:
+      - name: build ros2 packages
+        run: |
+          mkdir -p ../ros_ws/src
+          cp -r . ../ros_ws/src/openvslam_ros
+          cd ../ros_ws/src
+          git clone --depth 1 https://github.com/OpenVSLAM-Community/openvslam.git
+          cd openvslam
+          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)