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Add GitHub Actions workflows for building and validating GTSAM Docker images
- Introduced a new workflow for building and validating Docker images on multiple platforms (linux/amd64 and linux/arm64). - Updated the release workflow to include validation steps for the Docker images. - Added example scripts for validating GTSAM functionality within the container. - Created a shell script to facilitate running validation examples inside the Docker container.
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‎.github/workflows/build-and-validate.yaml‎

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name: Build and Validate
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on:
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pull_request:
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branches: [main, development]
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jobs:
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build-and-validate:
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strategy:
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fail-fast: false
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matrix:
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include:
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- platform: linux/amd64
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runner: ubuntu-latest
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- platform: linux/arm64
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runner: ubuntu-24.04-arm
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runs-on: ${{ matrix.runner }}
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permissions:
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contents: read
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steps:
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- name: Checkout
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uses: actions/checkout@v6
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- name: Set up Docker Buildx
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uses: docker/setup-buildx-action@v3
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- name: Build image (${{ matrix.platform }})
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run: docker build --platform ${{ matrix.platform }} -t gtsam_docker:latest .
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- name: Validate image (PlanarSLAM example)
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run: |
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chmod +x ./scripts/validate_container.sh
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./scripts/validate_container.sh gtsam_docker:latest /examples/PlanarSLAMExample.py

‎.github/workflows/release.yaml‎

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build:
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strategy:
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matrix:
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platform: [ "linux/amd64" ]
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# Use GitHub-hosted runner for amd64 and the arm64 partner runner for arm64
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platform: [ "linux/amd64", "linux/arm64" ]
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# Use GitHub-hosted runner for amd64; arm64 uses partner runner (ensure ubuntu-24.04-arm is enabled for the repo/org)
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runs-on: ${{ matrix.platform == 'linux/arm64' && 'ubuntu-24.04-arm' || 'ubuntu-latest' }}
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permissions:
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contents: read
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tags: ${{ steps.meta.outputs.tags }}
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labels: ${{ steps.meta.outputs.labels }}
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manifest:
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validate:
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needs: build
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strategy:
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fail-fast: false
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matrix:
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arch: [ amd64, arm64 ]
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runs-on: ${{ matrix.arch == 'arm64' && 'ubuntu-24.04-arm' || 'ubuntu-latest' }}
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permissions:
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contents: read
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packages: read
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steps:
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- name: Checkout
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uses: actions/checkout@v6
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- name: Log into registry ${{ env.REGISTRY }}
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uses: docker/login-action@v3
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with:
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registry: ${{ env.REGISTRY }}
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username: ${{ github.actor }}
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password: ${{ secrets.GITHUB_TOKEN }}
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- name: Pull and validate image (${{ matrix.arch }})
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run: |
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LOWER_IMAGE_NAME=$(echo "${{ env.IMAGE_NAME }}" | tr '[:upper:]' '[:lower:]')
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docker pull ${{ env.REGISTRY }}/${LOWER_IMAGE_NAME}:${{ inputs.version }}-${{ matrix.arch }}
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docker tag ${{ env.REGISTRY }}/${LOWER_IMAGE_NAME}:${{ inputs.version }}-${{ matrix.arch }} gtsam_docker:latest
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chmod +x ./scripts/validate_container.sh
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./scripts/validate_container.sh gtsam_docker:latest /examples/PlanarSLAMExample.py
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manifest:
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needs: validate
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runs-on: ubuntu-latest
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permissions:
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contents: read
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- name: Create multi-arch manifest for latest
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run: |
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# Convert IMAGE_NAME to lowercase
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LOWER_IMAGE_NAME=$(echo "${IMAGE_NAME}" | tr '[:upper:]' '[:lower:]')
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docker manifest create $REGISTRY/${LOWER_IMAGE_NAME}:latest \
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$REGISTRY/${LOWER_IMAGE_NAME}:latest-amd64
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$REGISTRY/${LOWER_IMAGE_NAME}:latest-amd64 \
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$REGISTRY/${LOWER_IMAGE_NAME}:latest-arm64
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docker manifest push $REGISTRY/${LOWER_IMAGE_NAME}:latest
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- name: Create multi-arch manifest for version tag
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run: |
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# Convert IMAGE_NAME to lowercase
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LOWER_IMAGE_NAME=$(echo "${IMAGE_NAME}" | tr '[:upper:]' '[:lower:]')
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docker manifest create $REGISTRY/${LOWER_IMAGE_NAME}:${{ inputs.version }} \
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$REGISTRY/${LOWER_IMAGE_NAME}:${{ inputs.version }}-amd64
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$REGISTRY/${LOWER_IMAGE_NAME}:${{ inputs.version }}-amd64 \
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$REGISTRY/${LOWER_IMAGE_NAME}:${{ inputs.version }}-arm64
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docker manifest push $REGISTRY/${LOWER_IMAGE_NAME}:${{ inputs.version }}
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release:

‎examples/PlanarSLAMExample.py‎

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"""
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GTSAM Copyright 2010-2018, Georgia Tech Research Corporation,
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Atlanta, Georgia 30332-0415
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All Rights Reserved
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Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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See LICENSE for the license information
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Simple robotics example using odometry measurements and bearing-range (laser) measurements.
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From borglab/gtsam python/gtsam/examples/PlanarSLAMExample.py (GTSAM 4.2.0).
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Run inside container: python3 /examples/PlanarSLAMExample.py
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"""
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# pylint: disable=invalid-name, E1101
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from __future__ import print_function
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import sys
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import gtsam
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import numpy as np
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from gtsam.symbol_shorthand import L, X
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# Create noise models
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PRIOR_NOISE = gtsam.noiseModel.Diagonal.Sigmas(np.array([0.3, 0.3, 0.1]))
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ODOMETRY_NOISE = gtsam.noiseModel.Diagonal.Sigmas(np.array([0.2, 0.2, 0.1]))
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MEASUREMENT_NOISE = gtsam.noiseModel.Diagonal.Sigmas(np.array([0.1, 0.2]))
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def main():
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"""Main runner."""
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# Create an empty nonlinear factor graph
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graph = gtsam.NonlinearFactorGraph()
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# Create the keys corresponding to unknown variables in the factor graph
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x1, x2, x3 = X(1), X(2), X(3)
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l1, l2 = L(4), L(5)
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# Add a prior on pose X1 at the origin
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graph.add(
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gtsam.PriorFactorPose2(x1, gtsam.Pose2(0.0, 0.0, 0.0), PRIOR_NOISE)
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)
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# Add odometry factors between X1,X2 and X2,X3
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graph.add(
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gtsam.BetweenFactorPose2(x1, x2, gtsam.Pose2(2.0, 0.0, 0.0), ODOMETRY_NOISE)
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)
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graph.add(
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gtsam.BetweenFactorPose2(x2, x3, gtsam.Pose2(2.0, 0.0, 0.0), ODOMETRY_NOISE)
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)
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# Add Range-Bearing measurements to two different landmarks L1 and L2
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graph.add(
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gtsam.BearingRangeFactor2D(
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x1, l1, gtsam.Rot2.fromDegrees(45), np.sqrt(4.0 + 4.0), MEASUREMENT_NOISE
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)
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)
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graph.add(
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gtsam.BearingRangeFactor2D(x2, l1, gtsam.Rot2.fromDegrees(90), 2.0, MEASUREMENT_NOISE)
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)
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graph.add(
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gtsam.BearingRangeFactor2D(x3, l2, gtsam.Rot2.fromDegrees(90), 2.0, MEASUREMENT_NOISE)
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)
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print("Factor Graph:\n{}".format(graph))
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# Create (deliberately inaccurate) initial estimate
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initial_estimate = gtsam.Values()
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initial_estimate.insert(x1, gtsam.Pose2(-0.25, 0.20, 0.15))
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initial_estimate.insert(x2, gtsam.Pose2(2.30, 0.10, -0.20))
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initial_estimate.insert(x3, gtsam.Pose2(4.10, 0.10, 0.10))
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initial_estimate.insert(l1, gtsam.Point2(1.80, 2.10))
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initial_estimate.insert(l2, gtsam.Point2(4.10, 1.80))
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print("Initial Estimate:\n{}".format(initial_estimate))
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# Optimize using Levenberg-Marquardt
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params = gtsam.LevenbergMarquardtParams()
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optimizer = gtsam.LevenbergMarquardtOptimizer(graph, initial_estimate, params)
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result = optimizer.optimize()
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print("\nFinal Result:\n{}".format(result))
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# Calculate and print marginal covariances
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marginals = gtsam.Marginals(graph, result)
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for (key, label) in [(x1, "X1"), (x2, "X2"), (x3, "X3"), (l1, "L1"), (l2, "L2")]:
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print("{} covariance:\n{}\n".format(label, marginals.marginalCovariance(key)))
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# Validation: expect result size and non-NaN covariances
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assert result.size() == 5, "Expected 5 values in result"
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_ = marginals.marginalCovariance(x1) # will raise if invalid
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print("VALIDATION OK")
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return 0
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if __name__ == "__main__":
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sys.exit(main())

‎examples/validate_gtsam.py‎

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"""
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Minimal GTSAM sanity check for container validation.
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Uses symbol_shorthand, Pose2, and Values (same API as PlanarSLAM/Odometry examples).
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Avoids noiseModel.Diagonal.Sigmas(numpy_array), which can segfault when numpy
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ABI doesn't match the version GTSAM was built against.
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Run: python3 /examples/validate_gtsam.py
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"""
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from __future__ import print_function
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import sys
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import gtsam
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from gtsam.symbol_shorthand import X
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def main():
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# Core types from the official examples, no numpy
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x1 = X(1)
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values = gtsam.Values()
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values.insert(x1, gtsam.Pose2(0.0, 0.0, 0.0))
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assert values.size() == 1
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pose = values.atPose2(x1)
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assert pose.x() == 0.0 and pose.y() == 0.0
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graph = gtsam.NonlinearFactorGraph()
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assert graph.size() == 0
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print("VALIDATION OK")
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return 0
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if __name__ == "__main__":
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sys.exit(main())

‎scripts/validate_container.sh‎

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#!/usr/bin/env bash
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# Run a GTSAM example inside the runtime container to validate the image.
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#
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# Usage:
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# ./scripts/validate_container.sh [IMAGE_TAG] [EXAMPLE]
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#
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# Examples:
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# ./scripts/validate_container.sh
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# ./scripts/validate_container.sh gtsam_docker:latest
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# ./scripts/validate_container.sh gtsam_docker:latest /examples/PlanarSLAMExample.py
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#
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# Default EXAMPLE is /examples/validate_gtsam.py (minimal graph/values check).
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# Use /examples/PlanarSLAMExample.py for the full PlanarSLAM example from borglab/gtsam.
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#
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# Prereq: build the runtime image first, e.g. docker build -t gtsam_docker:latest .
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set -e
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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REPO_ROOT="$(cd "$SCRIPT_DIR/.." && pwd)"
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EXAMPLES_DIR="$REPO_ROOT/examples"
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IMAGE="${1:-gtsam_docker:latest}"
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EXAMPLE="${2:-/examples/validate_gtsam.py}"
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# If EXAMPLE has no leading slash, treat as name under /examples/
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if [[ -n "$EXAMPLE" && "$EXAMPLE" != /* ]]; then
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EXAMPLE="/examples/$EXAMPLE"
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fi
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if [[ ! -d "$EXAMPLES_DIR" ]]; then
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echo "ERROR: Examples directory not found: $EXAMPLES_DIR" >&2
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exit 1
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fi
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if ! docker image inspect "$IMAGE" >/dev/null 2>&1; then
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echo "Image $IMAGE not found. Build it first, e.g.:" >&2
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echo " docker build -t gtsam_docker:latest ." >&2
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exit 1
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fi
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echo "Running GTSAM example in container (image: $IMAGE, script: $EXAMPLE)..."
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echo "---"
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docker run --rm \
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-v "$EXAMPLES_DIR:/examples:ro" \
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"$IMAGE" \
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python3 "$EXAMPLE"
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EXIT_CODE=$?
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echo "---"
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if [[ $EXIT_CODE -eq 0 ]]; then
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echo "OK: Example finished with exit code 0."
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else
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echo "FAIL: Example exited with code $EXIT_CODE." >&2
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exit $EXIT_CODE
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fi

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