test.yml

name: CI

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

jobs:
  build:
    runs-on: ubuntu-latest

    steps:
    - uses: actions/checkout@v2

    - name: Set up ROS 2
      run: |
        sudo apt-get update -q
        sudo apt-get install -y curl gnupg2 lsb-release
        curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
        sudo sh -c 'echo "deb http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
        sudo apt-get update -q
        sudo apt-get install -y ros-humble-desktop

    - name: Setup ROS 2 dependencies
      run: |
        sudo apt-get update -q
        sudo apt-get install -y python3-colcon-common-extensions
        sudo apt-get install -y ros-humble-rclpy ros-humble-sensor-msgs ros-humble-geometry-msgs

    - name: Source ROS 2 environment
      shell: bash
      run: |
        source /opt/ros/humble/setup.bash
        # source /ast_ws/install/setup.bash

    - name: Install Python dependencies
      run: |
        python3 -m pip install --upgrade pip
        pip3 install py_trees py_trees_ros

    - name: Run tests
      shell: bash
      run: |
        source /opt/ros/humble/setup.bash
        ros2 launch my_pkg robot_safety_behaviour_tree.py