lets try maplab 2.0 and 20.04

.github/workflows/build_ros1.yml

@@ -0,0 +1,38 @@
+name: ROS 1 Workflow
+
+on:
+  push:
+    branches: [ master ]
+  pull_request:
+
+jobs:
+  build_2004:
+    name: "ROS1 Ubuntu 20.04"
+    runs-on: ubuntu-latest
+    steps:
+      - name: Code Checkout
+        uses: actions/checkout@v2
+      - name: Create Workspace and Docker Image
+        run: |
+          export REPO=$(basename $GITHUB_REPOSITORY) &&
+          cd $GITHUB_WORKSPACE/.. && mkdir src/ &&
+          cd src/
+          && git clone https://github.com/rpng/open_vins.git
+          && git clone https://github.com/ethz-asl/maplab.git --recursive
+          && cd .. &&
+          mv $REPO/ src/ && mkdir $REPO/ && mv src/ $REPO/ && cd $REPO/ &&
+          docker build -t ov_plane -f $GITHUB_WORKSPACE/src/$REPO/Dockerfile_ros1_20_04 .
+      - name: Run Build in Docker
+        run: |
+          docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws ov_plane /bin/bash -c
+          "cd /catkin_ws
+          && catkin init
+          && catkin config --merge-devel
+          && catkin config --extend /opt/ros/noetic
+          && catkin build ov_maplab"
+      - name: Run Simulation!
+        run: |
+          docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws ov_plane /bin/bash -c "cd /catkin_ws && source devel/setup.bash && roslaunch ov_plane simulation.launch verbosity:=WARNING"
+
+
+

Dockerfile → Dockerfile_ros1_20_04

@@ -1,4 +1,4 @@
-FROM osrf/ros:melodic-desktop-full
+FROM osrf/ros:noetic-desktop-full
 
 # =========================================================
 # =========================================================
@@ -14,14 +14,25 @@ FROM osrf/ros:melodic-desktop-full
 # Dependencies we use, catkin tools is very good build system
 # Also some helper utilities for fast in terminal edits (nano etc)
 RUN apt-get update && apt-get install -y libeigen3-dev nano git
-RUN sudo apt-get install -y python-catkin-tools
-
-# Seems this has Python 3.6 installed on it...
-RUN sudo apt-get install -y python3-dev python3-matplotlib python3-numpy python3-psutil python3-tk
+RUN sudo apt-get install -y python3-catkin-tools python3-osrf-pycommon
+
+# Ceres solver install and setup
+RUN sudo apt-get install -y cmake libgoogle-glog-dev libgflags-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev libceres-dev
+# ENV CERES_VERSION="2.0.0"
+# RUN git clone https://ceres-solver.googlesource.com/ceres-solver && \
+#     cd ceres-solver && \
+#     git checkout tags/${CERES_VERSION} && \
+#     mkdir build && cd build && \
+#     cmake .. && \
+#     make -j$(nproc) install && \
+#     rm -rf ../../ceres-solver
+
+# Seems this has Python 3.8 installed on it...
+RUN apt-get update && apt-get install -y python3-dev python3-matplotlib python3-numpy python3-psutil python3-tk
 
 # Maplab dependecies
 # https://github.com/ethz-asl/maplab/wiki/Installation-Ubuntu
-RUN sudo apt install -y autotools-dev ccache doxygen dh-autoreconf git liblapack-dev libblas-dev libgtest-dev libreadline-dev libssh2-1-dev pylint clang-format python-autopep8 python-catkin-tools python-pip python-git python-setuptools python-termcolor python-wstool libatlas3-base
+RUN sudo apt install -y autotools-dev ccache doxygen dh-autoreconf git liblapack-dev libblas-dev libgtest-dev libreadline-dev libssh2-1-dev pylint clang-format-6.0 python3-autopep8 python3-catkin-tools python3-pip python3-git python3-setuptools python3-termcolor python3-wstool libatlas3-base libv4l-dev
 RUN sudo pip install requests
 
 # Install CMake 3.13.5
@@ -33,7 +44,7 @@ RUN cmake --version
 
 # Install deps needed for clion remote debugging
 # https://blog.jetbrains.com/clion/2020/01/using-docker-with-clion/
-RUN sed -i '6i\source "/catkin_ws/devel/setup.bash"\' /ros_entrypoint.sh
+# RUN sed -i '6i\source "/catkin_ws/devel/setup.bash"\' /ros_entrypoint.sh
 RUN apt-get update && apt-get install -y ssh build-essential gcc g++ \
     gdb clang cmake rsync tar python && apt-get clean
 RUN ( \

ReadMe.md

@@ -20,11 +20,11 @@ git clone https://github.com/rpng/open_vins.git
 git clone https://github.com/ethz-asl/maplab.git --recursive
 # switch open_vins to last tested commit (might build with newer)
 cd open_vins/
-git checkout 2b506eeedd0b158c014641b9240a62ae80f6d7a0
+git checkout 4534a2f32d4763bdc8c95121b3292c7423e12aca
 cd ..
 # switch maplab to last tested commit (might build with newer)
 cd maplab/
-git checkout 483daf4988a76c15be362fd017ec78581c4f88d9
+git checkout 0b4868efeb292851d71f98d31a1e6bb40ebb244b
 git submodule update --init --recursive
 cd ..
 ```
@@ -52,8 +52,8 @@ ov_docker ov_maplab bash
 cd catkin_ws/
 catkin init
 catkin config --merge-devel
-catkin config --extend /opt/ros/melodic
-catkin build maplab ov_maplab ov_data -j4
+catkin config --extend /opt/ros/noetic
+catkin build maplab ov_maplab -j4
 catkin build ov_maplab -j4 --no-deps # after first build
 source devel/setup.bash
 ```

package.xml

@@ -29,6 +29,7 @@
     <build_depend>visualization_msgs</build_depend>
     <build_depend>cv_bridge</build_depend>
     <build_depend>ov_core</build_depend>
+    <build_depend>ov_data</build_depend>
     <build_depend>ov_msckf</build_depend>
     <build_depend>vi_map</build_depend>
     <build_depend>vio_common</build_depend>
@@ -48,6 +49,7 @@
     <run_depend>visualization_msgs</run_depend>
     <run_depend>cv_bridge</run_depend>
     <run_depend>ov_core</run_depend>
+    <run_depend>ov_data</run_depend>
     <run_depend>ov_msckf</run_depend>
     <run_depend>vi_map</run_depend>
     <run_depend>vio_common</run_depend>