ubuntu-build.yml

name: ubuntu-build

on:
  workflow_dispatch:
  pull_request:
  push:

concurrency:
  group: ci-${{github.workflow}}-${{ github.ref }}
  cancel-in-progress: true

jobs:
  build:
    runs-on: ubuntu-22.04
    name: ubuntu-build
    steps:
      - name: Show env
        run: env

      - name: Checkout
        uses: actions/checkout@v3

      - name: Install Build Dependencies
        shell: bash
        run: |
          sudo apt update && sudo apt install --no-install-recommends -y \
          cmake \
          make \
          wget \
          lsb-release \
          gnupg \
          curl

      - name: Show Python version and platform info
        run: |
          python --version
          python -m platform

      - name: Show CMake version
        run: cmake --version

      # - name: Show protobuf compiler version
      #   run: protoc --version

      - name: Install Build Tools
        run: |
          sudo sh -c 'echo "deb http://packages.ros.org/ros2/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros2-latest.list'
          curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
          sudo apt update && sudo apt install --no-install-recommends -y \
          python3-pip \
          python3-vcstool \
          python3-colcon-common-extensions

      - name: Install Gazebo Garden
        run: |
          sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
          echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
          sudo apt update && sudo apt install --no-install-recommends -y \
          gz-garden

      - name: Build
        run: |
          colcon build --symlink-install --merge-install --cmake-args \
          -DCMAKE_BUILD_TYPE=RelWithDebInfo \
          -DCMAKE_CXX_STANDARD=17 \
          -DBUILD_TESTING=ON

      - name: Test
        run: |
          colcon test --merge-install
          colcon test-result --all --verbose