Feature/actions (#7)

* initial actions attempt

* fix indentation

* fix dependencies

* use actual package

* fix line breaks

* add missing header

* fix another missing header

* set directory and add pointer to github source

* add catkin pipeline

* fix uses syntax

* fix runner spec

* try adding update

* fix rosdep command

* specify distro

* force rosdep init and update

* remove init

* properly extend ros

* add required git dep

* rename workflows

* fix name syntax

* add badges

---------

Co-authored-by: Nathan Hughes <[email protected]>

.github/workflows/catkin.yaml

@@ -0,0 +1,33 @@
+---
+name: "ROS Noetic: Build and Test"
+on: [push]
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: ros:noetic-ros-base-focal
+    steps:
+      # checkout the code
+      - uses: actions/checkout@v4
+        with:
+          path: src/spark_dsg
+      # install necessary dependences
+      - name: Dependencies
+        run: |
+          apt update && apt install -y python3-wstool python3-catkin-tools python3-vcstool git
+          rosdep update --rosdistro noetic && rosdep install --rosdistro noetic --from-paths src --ignore-src -r -y
+      # configure repo
+      - name: Configure
+        run: |
+          catkin init
+          catkin config --extend /opt/ros/noetic
+          catkin config                       \
+            -DCMAKE_BUILD_TYPE=Release        \
+            -DSPARK_DSG_BUILD_TESTS=ON        \
+            -DSPARK_DSG_BUILD_PYTHON=ON       \
+            -DSPARK_DSG_BUILD_EXAMPLES=ON
+      # build repo
+      - name: Build
+        run: catkin build spark_dsg
+      # run unit tests
+      - name: Test
+        run: catkin test spark_dsg

.github/workflows/cmake.yaml

@@ -0,0 +1,29 @@
+---
+# based on https://github.com/actions/starter-workflows/blob/main/ci/cmake-single-platform.yml
+name: "ubuntu-latest: Build and Test"
+on: [push]
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+        # checkout the code
+      - uses: actions/checkout@v4
+        # setup package dependencies
+      - name: Dependencies
+        run: |
+          sudo apt install libgtest-dev libeigen3-dev nlohmann-json3-dev libzmq3-dev python3-dev
+        # configure repo
+      - name: Configure
+        run: |
+          cmake -B ${{github.workspace}}/build \
+              -DCMAKE_BUILD_TYPE=Release \
+              -DSPARK_DSG_BUILD_TESTS=ON \
+              -DSPARK_DSG_BUILD_PYTHON=ON \
+              -DSPARK_DSG_BUILD_EXAMPLES=ON
+        # build repo
+      - name: Build
+        run: cmake --build ${{github.workspace}}/build --config Release
+        # run unit tests
+      - name: Test
+        working-directory: ${{github.workspace}}/build
+        run: ctest -C Release

README.md

@@ -1,3 +1,6 @@
+[![ubuntu-latest: Build and Test](https://github.com/MIT-SPARK/Spark-DSG/actions/workflows/cmake.yaml/badge.svg)](https://github.com/MIT-SPARK/Spark-DSG/actions/workflows/cmake.yaml)
+[![ROS Noetic: Build and Test](https://github.com/MIT-SPARK/Spark-DSG/actions/workflows/catkin.yaml/badge.svg)](https://github.com/MIT-SPARK/Spark-DSG/actions/workflows/catkin.yaml)
+
 ## Spark-DSG
 
 This is the core c++ library that contains the dynamic scene graph data-structure used by Hydra. It also has python bindings.

include/spark_dsg/serialization/binary_serialization.h

@@ -39,6 +39,7 @@
 #include <limits>
 #include <list>
 #include <map>
+#include <optional>
 #include <set>
 #include <stdexcept>
 #include <string>

src/bounding_box_extraction.cpp

@@ -34,6 +34,8 @@
  * -------------------------------------------------------------------------- */
 #include "spark_dsg/bounding_box_extraction.h"
 
+#include <optional>
+
 namespace spark_dsg {
 namespace bounding_box {