Autoclear errors on request_axis_state #33

	name: ROS Build Test

	on:
	pull_request:
	branches: [main]
	push:
	branches: [main]

	jobs:
	build:
	runs-on: ubuntu-latest
	strategy:
	fail-fast: false
	matrix:
	ros-version: [humble, iron]

	steps:
	- name: Check out code
	uses: actions/checkout@v3

	- name: Set up Docker Buildx
	uses: docker/setup-buildx-action@v1

	- name: Cache Docker layers
	uses: actions/cache@v2
	with:
	path: /tmp/.buildx-cache
	key: ${{ runner.os }}-buildx-${{ matrix.ros-version }}-${{ github.sha }}
	restore-keys: \|
	${{ runner.os }}-buildx-${{ matrix.ros-version }}

	- name: Build docker image
	run: \|
	docker buildx build \
	--tag local:${{ matrix.ros-version }} \
	--load \
	--cache-from=type=local,src=/tmp/.buildx-cache \
	--cache-to=type=local,dest=/tmp/.buildx-cache \
	--file .devcontainer/${{ matrix.ros-version }}/Dockerfile .

	- name: Adjust permissions
	run: \|
	docker run -v ${{ github.workspace }}:/workspace -w /workspace local:${{ matrix.ros-version }} sudo chown -R vscode:vscode /workspace

	- name: Run colcon build
	run: \|
	docker run -v ${{ github.workspace }}:/workspace -w /workspace local:${{ matrix.ros-version }} \
	/bin/bash -c "rosdep install --from-paths odrive_ros2_control odrive_botwheel_explorer -y --ignore-src && \
	colcon build"

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