Create build.yml

.github/workflows/build.yml

@@ -0,0 +1,48 @@
+name: Build ROS2 Packages for Raspberry Pi 3
+
+on:
+  push:
+    branches:
+      - main  # Trigger the workflow on push events to the main branch.
+
+jobs:
+  build:
+    runs-on: ubuntu-22.04  # Specify the Ubuntu version here.
+    steps:
+    - name: Check out repository
+      uses: actions/checkout@v2
+
+    - name: Set up ROS environment
+      run: |
+        sudo apt update
+        sudo apt install -y curl gnupg lsb-release
+        sudo curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+        echo "deb [signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+        sudo apt update
+        sudo apt install -y python3-colcon-common-extensions python3-rosdep python3-vcstool
+
+    - name: Install cross-compilation tools
+      run: |
+        sudo apt-get update && sudo apt-get install -y crossbuild-essential-armhf g++-arm-linux-gnueabihf gcc-arm-linux-gnueabihf
+        # Install any other dependencies or cross-compilation tools you might need.
+
+    - name: Initialize rosdep
+      run: |
+        sudo rosdep init
+        rosdep update
+
+    - name: Install dependencies
+      run: |
+        rosdep install --from-paths src --ignore-src -r -y --rosdistro humble
+        # Replace 'humble' with your ROS 2 distro if different.
+
+    - name: Build the ROS2 workspace
+      run: |
+        colcon build --build-base armhf_build --install-base armhf_install
+        # Ensure the toolchain file is correctly pointing to your ARM toolchain. --cmake-args -DCMAKE_TOOLCHAIN_FILE=path/to/your/toolchainfile.cmake
+
+    - name: Archive the build artifacts
+      uses: actions/upload-artifact@v2
+      with:
+        name: ros2-workspace-artifact
+        path: armhf_install/