Add backward ros for debugging, enable riscv64 on push for saluki dbg…

… branch

.github/workflows/tii-depthai-ctrl.yaml

@@ -42,6 +42,8 @@ jobs:
 
           if [[ "${{ github.event_name }}" == "push" && "${{ github.ref }}" == "refs/heads/$default_branch" ]]; then
             matrix_list=("amd64" "arm64" "riscv64")
+          elif [[ "${{ github.event_name }}" == "push" && "${{ github.ref }}" == "refs/heads/saluki_depthai_debug" ]]; then
+            matrix_list=("riscv64") # TODO(mehmetkillioglu): DEBUG ONLY, MAKE SURE TO REMOVE LATER
           elif [[ "${{ github.event_name }}" == "pull_request" && "${{ github.base_ref }}" == "$default_branch" ]]; then
             matrix_list=("amd64" "arm64" "riscv64")
           elif [[ "${{ github.event_name }}" == "workflow_dispatch" ]]; then

CMakeLists.txt

@@ -5,7 +5,7 @@ cmake_minimum_required(VERSION 3.5)
 # Can't define the project(..) here as well, because it then makes hunter to fail
 enable_language(C)
 enable_language(C CXX)
-set(CMAKE_BUILD_TYPE Release)
+set(CMAKE_BUILD_TYPE RelWithDebInfo)
 
 # all these settings are needed to properly compile depthai-core as subdirectory
 set(BUILD_SHARED_LIBS OFF)
@@ -72,6 +72,8 @@ find_package(sensor_msgs REQUIRED)
 find_package(stereo_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(vision_msgs REQUIRED)
+find_package(backward_ros REQUIRED)
+add_compile_options(-g)
 
 find_package(nlohmann_json REQUIRED)
 

Dockerfile

@@ -51,7 +51,8 @@ RUN apt update \
         libopencv-ts \
         opencv-staticdev \
         libdepthai-core20 \
-	gdb \
+        binutils-dev \
+        backward-ros \
     && rm -rf /var/lib/apt/lists/*
 
 RUN mkdir /depthai_configs
@@ -66,3 +67,7 @@ ENTRYPOINT [ "/entrypoint.sh" ]
 COPY entrypoint.sh /entrypoint.sh
 
 COPY --from=builder $INSTALL_DIR $INSTALL_DIR
+
+COPY --from=builder $WORKSPACE_DIR/src $WORKSPACE_DIR/src
+RUN ls -la $WORKSPACE_DIR/src
+RUN ls -la $WORKSPACE_DIR

package.xml

@@ -20,6 +20,7 @@
   <depend>rclcpp_components</depend>
   <depend>cv_bridge</depend>
   <depend>libopencv-dev</depend>
+  <depend>backward_ros</depend>
 
   <depend>camera_info_manager</depend>
   <depend>image_transport</depend>