Fixed map empty on start if there is no global loop closure yet in lo… #540

	name: CMake-ROS

	on:
	push:
	branches:
	- master
	pull_request:
	branches:
	- '**'

	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 on ros ${{ matrix.ros_distribution }} and ${{ matrix.os }}
	runs-on: ${{ matrix.os }}
	strategy:
	fail-fast: false
	matrix:
	ros_distribution: [ noetic, humble, iron]
	include:
	- ros_distribution: 'noetic'
	os: ubuntu-20.04
	- ros_distribution: 'humble'
	os: ubuntu-22.04
	- ros_distribution: 'iron'
	os: ubuntu-22.04

	steps:
	- uses: ros-tooling/[email protected]
	with:
	required-ros-distributions: ${{ matrix.ros_distribution }}

	- uses: actions/checkout@v4

	- name: Install dependencies
	run: \|
	source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
	rosdep update
	rosdep install --from-paths ${{github.workspace}} -y

	- name: Configure CMake
	run: \|
	source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
	cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}

	- name: Build
	run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}

	- name: Info
	working-directory: ${{github.workspace}}/build/bin
	run: \|
	source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
	./rtabmap-console --version

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