Merge pull request #1 from koide3/glim_ros2

build glim_ros2

.gitignore

@@ -1,3 +1,4 @@
 packages/ubuntu2004/*
 packages/ubuntu2204/*
-packages/ubuntu2404/*
+packages/ubuntu2404/*
+packages/local_ppa/*

Makefile

@@ -1,6 +1,6 @@
 .PHONY: help
 help:
-	@echo "make iridescence|gtsam_points|all|deploy"
+	@echo "make iridescence|gtsam_points|glim_ros2|all|deploy"
 
 .PHONY: iridescence
 iridescence:
@@ -12,6 +12,11 @@ gtsam_points:
 	@echo "Building gtsam_points binaries..."
 	cd packages && ./build_gtsam_points.sh
 
+.PHONY: glim_ros2
+gtsam_ros2:
+	@echo "Building gtsam_ros2 binaries..."
+	cd packages && ./build_glim_ros2.sh
+
 .PHONY: all
 all: iridescence gtsam_points
 	@echo "Building all binaries..."

packages/.dockerignore

@@ -0,0 +1 @@
+*.sh

packages/build_glim_ros2.sh

@@ -0,0 +1,55 @@
+#!/bin/bash
+# docker build -f glim_ros2/docker/deb/Dockerfile.ros2 . -t glim_ros2
+
+mkdir -p local_ppa
+cp -R ../ubuntu2004 local_ppa/
+cp -R ../ubuntu2204 local_ppa/
+cp -R ../ubuntu2404 local_ppa/
+cp -R ../setup_ppa.sh local_ppa/
+
+platforms=("amd64")
+declare -A pids
+declare -A labels
+
+configurations=(
+  "ubuntu2404 jazzy nvidia/cuda:12.5.1-devel-ubuntu24.04 Dockerfile.ros2"
+  "ubuntu2404 jazzy nvidia/cuda:12.5.1-devel-ubuntu24.04 Dockerfile.ros2 -cuda12.5"
+  "ubuntu2204 humble nvidia/cuda:12.5.1-devel-ubuntu22.04 Dockerfile.ros2"
+  "ubuntu2204 humble nvidia/cuda:12.5.1-devel-ubuntu22.04 Dockerfile.ros2 -cuda12.5"
+)
+
+for platform in "${platforms[@]}"; do
+  for configuration in "${configurations[@]}"; do
+    config=($configuration)
+    ubuntu_label=${config[0]}
+    ros_distro=${config[1]}
+    cuda_base_image=${config[2]}
+    dockerfile=${config[3]}
+    package_suffix=${config[4]}
+
+    name="glim_ros2:$ubuntu_label$package_suffix.$platform"
+    echo $name
+    docker buildx build \
+      -t $name \
+      -f glim_ros2/docker/deb/${dockerfile} \
+      --platform linux/$platform \
+      --build-arg="BASE_IMAGE=$cuda_base_image" \
+      --build-arg="ROS_DISTRO=$ros_distro" \
+      --build-arg="PACKAGE_SUFFIX=$package_suffix" \
+      . &
+
+    pids[$name]=$!
+    labels[$name]=$ubuntu_label
+  done
+done
+
+for key in "${!pids[@]}"; do
+  echo "Waiting for $key pid=${pids[$key]} label=${labels[$key]}"
+  wait ${pids[$key]} || { echo "job failed" >&2; exit; }
+done
+
+for key in "${!labels[@]}"; do
+  echo "Extracting deb file from $key"
+  label=${labels[$key]}
+  docker run --rm -v $(realpath $label):/output $key /bin/bash -c "cp /root/*.deb /output/"
+done

packages/build_gtsam_points.sh

@@ -1,7 +1,5 @@
 #!/bin/bash
 platforms=("amd64" "arm64")
-ubuntu_images=("jammy" "noble")
-ubuntu_labels=("ubuntu2204" "ubuntu2404")
 
 declare -A pids
 declare -A labels
@@ -41,7 +39,7 @@ done
 
 for key in "${!pids[@]}"; do
   echo "Waiting for $key pid=${pids[$key]} label=${labels[$key]}"
-  wait ${pids[$key]}
+  wait ${pids[$key]} || { echo "job failed" >&2; exit; }
 done
 
 for key in "${!labels[@]}"; do

packages/build_iridescence.sh

@@ -20,7 +20,7 @@ done
 
 for key in "${!pids[@]}"; do
   echo "Waiting for $key pid=${pids[$key]} label=${labels[$key]}"
-  wait ${pids[$key]}
+  wait ${pids[$key]} || { echo "job failed" >&2; exit; }
 done
 
 for key in "${!labels[@]}"; do

setup_ppa.sh

@@ -24,8 +24,8 @@ fi
 
 # Add PPA to sources.list.d/koide3_ppa.list
 echo "ubuntu_label=$ubuntu_label"
-echo curl -s --compressed "https://koide3.github.io/ppa/$ubuntu_label/KEY.gpg" | gpg --dearmor | tee /etc/apt/trusted.gpg.d/koide3_ppa.gpg >/dev/null
-echo echo "deb [signed-by=/etc/apt/trusted.gpg.d/koide3_ppa.gpg] https://koide3.github.io/ppa/$ubuntu_label ./" | tee /etc/apt/sources.list.d/koide3_ppa.list
+echo 'curl -s --compressed "https://koide3.github.io/ppa/$ubuntu_label/KEY.gpg" | gpg --dearmor | tee /etc/apt/trusted.gpg.d/koide3_ppa.gpg >/dev/null'
+echo 'echo "deb [signed-by=/etc/apt/trusted.gpg.d/koide3_ppa.gpg] https://koide3.github.io/ppa/$ubuntu_label ./" | tee /etc/apt/sources.list.d/koide3_ppa.list'
 
 curl -s --compressed "https://koide3.github.io/ppa/$ubuntu_label/KEY.gpg" | gpg --dearmor | tee /etc/apt/trusted.gpg.d/koide3_ppa.gpg >/dev/null
 echo "deb [signed-by=/etc/apt/trusted.gpg.d/koide3_ppa.gpg] https://koide3.github.io/ppa/$ubuntu_label ./" | tee /etc/apt/sources.list.d/koide3_ppa.list

ubuntu2004/InRelease

@@ -1,37 +1,37 @@
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ubuntu2204/Packages

@@ -504,3 +504,63 @@ Section: devel
 Priority: optional
 Description: 3D visualization library for rapid prototyping of 3D algorithms
 
+Package: ros-humble-glim
+Version: 1.0.1-0jammy
+Architecture: amd64
+Maintainer: k.koide <k.koide@aist.go.jp>
+Installed-Size: 5434
+Depends: libiridescence-dev, libgtsam-points-dev, libboost-filesystem1.74.0 (>= 1.74.0), libboost-serialization1.74.0 (>= 1.74.0), libc6 (>= 2.34), libfmt8 (>= 8.1.1+ds1), libgcc-s1 (>= 3.3.1), libgomp1 (>= 6), libopencv-core4.5d (>= 4.5.4+dfsg), libspdlog1-fmt8, libstdc++6 (>= 12), libfmt-dev, libspdlog-dev
+Filename: ./ros-humble-glim_1.0.1-0jammy_amd64.deb
+Size: 1076714
+MD5sum: 473c9180cd85f3d069217dd9e1d280b8
+SHA1: 2612825fb17a283084a187da6f2cf758ffc54baf
+SHA256: 6833e085d9d0be00d6ad51b57bf658706786fdb6f3f22e060f277f9e9ad67055
+Section: misc
+Priority: optional
+Description: 3D LiDAR-IMU mapping framework
+
+Package: ros-humble-glim-cuda12.5
+Version: 1.0.1-0jammy
+Architecture: amd64
+Maintainer: k.koide <k.koide@aist.go.jp>
+Installed-Size: 5497
+Depends: libiridescence-dev, libgtsam-points-cuda12.5-dev, libboost-filesystem1.74.0 (>= 1.74.0), libboost-serialization1.74.0 (>= 1.74.0), libc6 (>= 2.34), libfmt8 (>= 8.1.1+ds1), libgcc-s1 (>= 3.3.1), libgomp1 (>= 6), libopencv-core4.5d (>= 4.5.4+dfsg), libspdlog1-fmt8, libstdc++6 (>= 12), libfmt-dev, libspdlog-dev
+Filename: ./ros-humble-glim-cuda12.5_1.0.1-0jammy_amd64.deb
+Size: 1091784
+MD5sum: 6de25df518246470a3f202458d28b6c8
+SHA1: cf3c1287da11938a5d207f0c177047979e1791a6
+SHA256: 41d8fbe920e0b38314958adc583efdf3d065270abe1f7031447607b1d88bc16e
+Section: misc
+Priority: optional
+Description: 3D LiDAR-IMU mapping framework
+
+Package: ros-humble-glim-ros
+Version: 1.0.1-0jammy
+Architecture: amd64
+Maintainer: k.koide <k.koide@aist.go.jp>
+Installed-Size: 1787
+Depends: libc6 (>= 2.34), libconsole-bridge1.0 (>= 1.0.1+dfsg2), libfmt8 (>= 8.1.1+ds1), libgcc-s1 (>= 3.3.1), libspdlog1-fmt8, libstdc++6 (>= 11), ros-humble-cv-bridge, ros-humble-geometry-msgs, ros-humble-glim, ros-humble-image-transport, ros-humble-nav-msgs, ros-humble-rclcpp, ros-humble-rclcpp-components, ros-humble-rosbag2-cpp, ros-humble-sensor-msgs, ros-humble-tf2-ros
+Filename: ./ros-humble-glim-ros_1.0.1-0jammy_amd64.deb
+Size: 349984
+MD5sum: 01f94e22a4755fcdd92dfe5522d69955
+SHA1: 86ae55bf540c07efb146781344cd9f25b9777ea6
+SHA256: 8ce8d751cecb656c0383485aa7cb88d264a6ea374589c37542d0447ef31e54ce
+Section: misc
+Priority: optional
+Description: LiDAR-IMU odometry based on tight coupling of geometric and inertial constraints
+
+Package: ros-humble-glim-ros-cuda12.5
+Version: 1.0.1-0jammy
+Architecture: amd64
+Maintainer: k.koide <k.koide@aist.go.jp>
+Installed-Size: 1787
+Depends: libc6 (>= 2.34), libconsole-bridge1.0 (>= 1.0.1+dfsg2), libfmt8 (>= 8.1.1+ds1), libgcc-s1 (>= 3.3.1), libspdlog1-fmt8, libstdc++6 (>= 11), ros-humble-cv-bridge, ros-humble-geometry-msgs, ros-humble-glim-cuda12.5, ros-humble-image-transport, ros-humble-nav-msgs, ros-humble-rclcpp, ros-humble-rclcpp-components, ros-humble-rosbag2-cpp, ros-humble-sensor-msgs, ros-humble-tf2-ros
+Filename: ./ros-humble-glim-ros-cuda12.5_1.0.1-0jammy_amd64.deb
+Size: 349802
+MD5sum: a133573d58deda147e1c5009c076415f
+SHA1: 258cf50a25af9eab3198fbae0bf8ad0d40647e91
+SHA256: 6ae8ce812e1e5d086361ade1c34c6420835fcef5de9e0d93038cad2b7900dec4
+Section: misc
+Priority: optional
+Description: LiDAR-IMU odometry based on tight coupling of geometric and inertial constraints
+