build_and_test.yml

name: Build and Test Workflows

on:
  pull_request:
    branches:
      - main
      - develop
  push:
    branches:
      - main

jobs:
  ament_lint:
    name: Lint and Codecheck
    runs-on:  ubuntu-latest
    steps:
      - name: Code Checkout
        uses: actions/checkout@v4
      - name: Setup ROS
        uses: ros-tooling/setup-ros@master
      - name: Ament Copyright Lint
        uses: ros-tooling/action-ros-lint@master
        with:
          distribution: humble
          linter: copyright
          package-name: "*"
      - name: Ament Flake8 Lint
        uses: ros-tooling/action-ros-lint@master
        with:
          distribution: humble
          linter: flake8
          package-name: "*"
          arguments: '--config=${{ github.workspace }}/.flake8'
      - name: Ament PEP257 Lint
        uses: ros-tooling/action-ros-lint@master
        with:
          distribution: humble
          linter: pep257
          package-name: "*"
      - name: Ament xmllint Lint
        uses: ros-tooling/action-ros-lint@master
        with:
          distribution: humble
          linter: xmllint
          package-name: "*"

  build_source:
    name: Build Docker Image and ROS 2 Packages
    runs-on: ubuntu-latest
    env:
      CONTAINER_NAME: perception_pipeline
      PERCEP_WS:  /root/percep_ws
    steps:
      - name: Code Checkout
        uses: actions/checkout@v4
      - name: Build Docker Image
        run:  docker build . --file Dockerfile.ubuntu -t ${{ github.repository }}:latest
      - name: Run Docker Image
        run:  |
          docker run -it -d --name $CONTAINER_NAME \
          -v ${{ github.workspace }}:$PERCEP_WS/src \
          ${{ github.repository }}:latest
      - name: Build ROS 2 Packages in Container
        run:  docker exec $CONTAINER_NAME bash -c \
              "source /opt/ros/humble/setup.bash && cd $PERCEP_WS && colcon build"