new ci (#13)

* new ci

* fix url

.dockerignore

@@ -0,0 +1,3 @@
+.git/*
+docs/*
+docker/*

.github/workflows/build.yml

@@ -7,6 +7,8 @@ on:
   pull_request:
     branches: [ master ]
     paths-ignore: '**.md'
+  repository_dispatch:
+    types: [trigger-event]
 
   # Allows you to run this workflow manually from the Actions tab
   workflow_dispatch:
@@ -16,7 +18,14 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        DISTRO: [focal, focal_llvm, jammy, jammy_llvm]
+        DISTRO: [
+          { "ubuntu": "noble", "suffix": "gcc" },
+          { "ubuntu": "noble", "suffix": "llvm" },
+          { "ubuntu": "jammy", "suffix": "gcc" },
+          { "ubuntu": "jammy", "suffix": "llvm" },
+          { "ubuntu": "jammy_cuda12.2", "suffix": "gcc.cuda" },
+          { "ubuntu": "jammy_cuda12.2", "suffix": "llvm.cuda" }
+        ]
 
     steps:
       - uses: actions/checkout@v2
@@ -26,14 +35,30 @@ jobs:
 
       - name: Docker login
         continue-on-error: true
-        uses: docker/login-action@v1
+        uses: docker/login-action@v3
         with:
           username: ${{ secrets.DOCKER_USERNAME }}
           password: ${{ secrets.DOCKER_TOKEN }}
 
       - name: Docker build
-        uses: docker/build-push-action@v2
+        uses: docker/build-push-action@v6
         with:
-          file: ${{github.workspace}}/docker/${{ matrix.DISTRO }}/Dockerfile
+          tags: koide3/glim:${{ matrix.DISTRO.ubuntu }}
+          file: ${{github.workspace}}/docker/ubuntu/Dockerfile.${{ matrix.DISTRO.suffix }}
+          build-args: |
+            BASE_IMAGE=koide3/gtsam_points:${{ matrix.DISTRO.ubuntu }}
           context: .
-          push: false
+
+  dispatch:
+    needs: build
+    strategy:
+      matrix:
+        repo: ['koide3/glim_ros1', 'koide3/glim_ros2']
+    runs-on: ubuntu-latest
+    steps:
+      - name: Repository Dispatch
+        uses: peter-evans/repository-dispatch@v3
+        with:
+          token: ${{ secrets.GH_PAT }}
+          repository: ${{ matrix.repo }}
+          event-type: trigger-event

.github/workflows/gendoc.yml

@@ -0,0 +1,38 @@
+name: gendoc
+
+on:
+  push:
+    tags:
+      - '*'
+  # Allows you to run this workflow manually from the Actions tab
+  workflow_dispatch:
+
+jobs:
+  gendoc:
+    name: Generate documentation
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Configure Git Credentials
+        run: |
+          git config user.name github-actions[bot]
+          git config user.email 41898282+github-actions[bot]@users.noreply.github.com
+
+      - name : Install dependencies
+        run: sudo apt-get install -y git cmake build-essential doxygen graphviz python3-dev
+
+      - name: Install python dependencies
+        run: python -m pip install mkdocs mkdocs-material
+
+      - name: Generate documentation
+        run: cd docs && make all
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: site
+          path: ./site/*
+
+      - name: Deploy documentation
+        run: cd docs && make deploy

docker/focal/Dockerfile → docker/ubuntu/Dockerfile.gcc

@@ -1,4 +1,5 @@
-FROM koide3/gtsam_docker:focal_cuda11.2
+ARG BASE_IMAGE=koide3/gtsam_points:jammy
+FROM $BASE_IMAGE
 
 RUN apt-get update \
   && apt-get install --no-install-recommends -y \
@@ -14,7 +15,7 @@ RUN cmake .. \
   -DBUILD_WITH_VIEWER=OFF \
   -DBUILD_WITH_MARCH_NATIVE=OFF \
   -DCMAKE_BUILD_TYPE=Release
-RUN make -j$(nproc)
+RUN  make -j$(nproc)
 
 # with viewer
 WORKDIR /root/glim/build
@@ -25,13 +26,4 @@ RUN cmake .. \
   -DCMAKE_BUILD_TYPE=Release
 RUN make -j$(nproc)
 
-# with CUDA
-WORKDIR /root/glim/build
-RUN cmake .. \
-  -DBUILD_WITH_CUDA=ON \
-  -DBUILD_WITH_VIEWER=ON \
-  -DBUILD_WITH_MARCH_NATIVE=OFF \
-  -DCMAKE_BUILD_TYPE=Release
-RUN make -j$(nproc)
-
 CMD ["bash"]

docker/ubuntu/Dockerfile.gcc.cuda

@@ -0,0 +1,20 @@
+ARG BASE_IMAGE=koide3/gtsam_points:jammy_cuda12.2
+FROM $BASE_IMAGE
+
+RUN apt-get update \
+  && apt-get install --no-install-recommends -y \
+    libfmt-dev libspdlog-dev libopencv-dev \
+  && apt-get clean \
+  && rm -rf /var/lib/apt/lists/*
+
+# with CUDA
+COPY . /root/glim
+WORKDIR /root/glim/build
+RUN cmake .. \
+  -DBUILD_WITH_CUDA=ON \
+  -DBUILD_WITH_VIEWER=ON \
+  -DBUILD_WITH_MARCH_NATIVE=OFF \
+  -DCMAKE_BUILD_TYPE=Release
+RUN make -j$(nproc)
+
+CMD ["bash"]

docker/focal_llvm/Dockerfile → docker/ubuntu/Dockerfile.llvm

@@ -1,4 +1,5 @@
-FROM koide3/gtsam_docker:focal_cuda11.2
+ARG BASE_IMAGE=koide3/gtsam_points:jammy
+FROM $BASE_IMAGE
 
 RUN apt-get update \
   && apt-get install --no-install-recommends -y \
@@ -27,13 +28,4 @@ RUN CC=clang CXX=clang++ cmake .. \
   -DCMAKE_BUILD_TYPE=Release
 RUN make -j$(nproc)
 
-# with CUDA
-WORKDIR /root/glim/build
-RUN CC=clang CXX=clang++ cmake .. \
-  -DBUILD_WITH_CUDA=ON \
-  -DBUILD_WITH_VIEWER=ON \
-  -DBUILD_WITH_MARCH_NATIVE=OFF \
-  -DCMAKE_BUILD_TYPE=Release
-RUN make -j$(nproc)
-
 CMD ["bash"]

docker/ubuntu/Dockerfile.llvm.cuda

@@ -0,0 +1,22 @@
+ARG BASE_IMAGE=koide3/gtsam_points:jammy
+FROM $BASE_IMAGE
+
+RUN apt-get update \
+  && apt-get install --no-install-recommends -y \
+    libfmt-dev libspdlog-dev libopencv-dev \
+  && apt-get clean \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN update-alternatives --install /usr/bin/ld ld /usr/bin/ld.lld 50
+
+# with CUDA
+COPY . /root/glim
+WORKDIR /root/glim/build
+RUN cmake .. \
+  -DBUILD_WITH_CUDA=ON \
+  -DBUILD_WITH_VIEWER=ON \
+  -DBUILD_WITH_MARCH_NATIVE=OFF \
+  -DCMAKE_BUILD_TYPE=Release
+RUN make -j$(nproc)
+
+CMD ["bash"]

docs/Makefile

@@ -0,0 +1,22 @@
+.PHONY: help
+help:
+	@echo "make cpp|all"
+
+.PHONY: cpp
+cpp:
+	@echo "Building C++ documentation..."
+	doxygen Doxyfile doc_cpp
+
+.PHONY: mkdocs
+mkdocs:
+	@echo "Building MkDocs documentation..."
+	cd .. && mkdocs build
+
+.PHONY: all
+all: cpp mkdocs
+	@echo "All documentation built."
+
+.PHONY: deploy
+deploy:
+	@echo "Deploying documentation..."
+	cd .. && mkdocs gh-deploy --force

docs/api.md

@@ -2,9 +2,8 @@
 
 ## Doxygen generated API list
 
-* [gtsam_points](https://staff.aist.go.jp/k.koide/projects/doxygen/gtsam_points/): GTSAM factors for range-based SLAM
-* [glim](https://staff.aist.go.jp/k.koide/projects/doxygen/glim/): Main LiDAR-IMU SLAM package
-* [glim_ext](https://staff.aist.go.jp/k.koide/projects/doxygen/glim_ext/): Example implementations of extension modules
+* [gtsam_points](https://koide3.github.io/gtsam_points/doc_cpp/index.html): GTSAM factors for range-based SLAM
+* [glim](https://koide3.github.io/glim/doc_cpp/index.html): LiDAR-IMU localization and mapping
 
 ## Related Repositories
 * [gtsam_points (https://github.com/koide3/gtsam_points)](https://github.com/koide3/gtsam_points)