Multithreaded rtabmap node #211


	name: ros2

	on:
	push:
	branches: [ ros2 ]
	pull_request:
	branches: [ ros2 ]

	env:
	# Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
	BUILD_TYPE: Release

	jobs:
	build:
	# The CMake configure and build commands are platform agnostic and should work equally
	# well on Windows or Mac. You can convert this to a matrix build if you need
	# cross-platform coverage.
	# See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
	name: Build ros2 ${{ matrix.ros_distro }} on ubuntu ${{ matrix.ubuntu_distro }}
	runs-on: ubuntu-latest
	strategy:
	matrix:
	ros_distro: [humble, iron]
	include:
	- ros_distro: 'humble'
	ubuntu_distro: 'jammy'
	- ros_distro: 'iron'
	ubuntu_distro: 'jammy'
	# Disabled as there still missing dependencies on jazzy:
	# - ros_distro: 'jazzy'
	# ubuntu_distro: 'noble'
	fail-fast: false
	container:
	image: rostooling/setup-ros-docker:ubuntu-${{ matrix.ubuntu_distro }}-ros-${{ matrix.ros_distro }}-desktop-latest
	steps:
	- uses: actions/checkout@v4
	- uses: ros-tooling/setup-ros@v0.7
	with:
	required-ros-distributions: ${{ matrix.ros_distro }}
	- run: \|
	echo "repositories:\n introlab/rtabmap:\n type: git\n url: https://github.com/introlab/rtabmap.git\n version: master\n" > /tmp/deps.repos &&\
	cat /tmp/deps.repos
	- uses: ros-tooling/action-ros-ci@v0.3
	with:
	package-name: rtabmap_ros
	target-ros2-distro: ${{ matrix.ros_distro }}
	vcs-repo-file-url: /tmp/deps.repos

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