ros2.yml

name: ros2

on:
  push:
    paths:
      - ".github/workflows/ros2.yml"
      - "include/**"
      - "launch/**"
      - "src/**"
      - "CMakeLists.txt"
      - "package.xml"
  pull_request:
    paths:
      - ".github/workflows/ros2.yml"
      - "include/**"
      - "launch/**"
      - "src/**"
      - "CMakeLists.txt"
      - "package.xml"

env:
  BUILD_TYPE: Release

jobs:
  build:
    name: Build on ros2 ${{ matrix.ros_distro }}
    runs-on: ubuntu-22.04
    strategy:
      matrix:
        ros_distro: [ humble ]

    steps:   
    - name: Install gsl-lite
      run: |
        git clone https://github.com/gsl-lite/gsl-lite && cd gsl-lite
        mkdir build && cd build
        cmake .. && make -j8
        sudo make install

    - name: Install Catch2
      run: |
        git clone https://github.com/catchorg/Catch2 && cd Catch2
        mkdir build && cd build
        cmake .. && make -j8
        sudo make install

    - name: Install fmt
      run: |
        git clone https://github.com/fmtlib/fmt && cd fmt
        mkdir build && cd build
        cmake -DFMT_TEST=OFF ..
        make -j8
        sudo make install

    - name: Install mp-units
      run: |
        git clone https://github.com/mpusz/mp-units && cd mp-units
        mkdir build && cd build
        cmake -DMP_UNITS_AS_SYSTEM_HEADERS=ON -DMP_UNITS_BUILD_LA=OFF ..
        make -j8
        sudo make install

    - uses: ros-tooling/setup-ros@v0.7
      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@v4
      with:
        path: 'ros2_ws/src/t07_robot'
        submodules: true
        fetch-depth: 1

    - name: colcon build
      run: |
        source /opt/ros/${{ matrix.ros_distro }}/setup.bash
        cd ${{github.workspace}}/ros2_ws
        colcon build --event-handlers console_direct+