Fixed #1075 #138


	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 on ros2 ${{ matrix.ros_distro }} and ${{ matrix.os }}
	runs-on: ${{ matrix.os }}
	strategy:
	matrix:
	ros_distro: [humble, iron]
	include:
	- ros_distro: 'humble'
	os: ubuntu-22.04
	- ros_distro: 'iron'
	os: ubuntu-22.04

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

	- name: Setup ros2 workspace
	run: \|
	source /opt/ros/${{ matrix.ros_distro }}/setup.bash
	mkdir -p ${{github.workspace}}/ros2_ws/src
	cd ${{github.workspace}}/ros2_ws
	colcon build

	- uses: actions/checkout@v2
	with:
	repository: 'introlab/rtabmap'
	path: 'ros2_ws/src/rtabmap'

	- uses: actions/checkout@v2
	with:
	path: 'ros2_ws/src/rtabmap_ros'

	- name: colcon build
	run: \|
	source /opt/ros/${{ matrix.ros_distro }}/setup.bash
	cd ${{github.workspace}}/ros2_ws
	rosdep update
	rosdep install --from-paths src --ignore-src -r -y -t build_export -t test -t build -t buildtool_export -t buildtool
	colcon build --event-handlers console_direct+

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