build_test_ros.yml

name: Build and Test with ROS1

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

jobs:
  build:
    name: ${{ matrix.config.name }}
    runs-on: ubuntu-latest

    strategy:
      fail-fast: false
      matrix:
        config:
          - name: "melodic"
            container:
              image: "osrf/ros:melodic-desktop-full"
              env:
                ROS_DISTRO: melodic
          - name: "noetic"
            container:
              image: "osrf/ros:noetic-desktop-full"
              env:
                ROS_DISTRO: noetic

    container: ${{ matrix.config.container }}

    defaults:
      run:
        shell: bash

    steps:
      - uses: actions/checkout@v3
        with:
          path: src/fixposition_driver
      - name: Checkout Deps
        uses: actions/checkout@v3
        with:
          repository: fixposition/fixposition_gnss_tf
          path: src/fixposition_gnss_tf
      - name: Set up Deps
        run: |
          sudo apt-get update
          sudo apt-get install -y libeigen3-dev libyaml-cpp-dev libgtest-dev python3-osrf-pycommon python3-catkin-tools
      - name: Install Gtest
        if: matrix.config.container.image == 'osrf/ros:melodic-desktop-full'
        run: |
          cd /usr/src/gtest
          sudo cmake .
          sudo make
          sudo make install
      - name: Ignore ROS2 node
        run: |
          touch src/fixposition_driver/fixposition_driver_ros2/CATKIN_IGNORE
          touch src/fixposition_driver/fixposition_odometry_converter_ros2/CATKIN_IGNORE
      - name: Init Workspace
        run: |
          catkin init
      - name: Build and Test
        run: |
          source /opt/ros/$ROS_DISTRO/setup.bash
          catkin build fixposition_driver_lib fixposition_driver_ros1 fixposition_odometry_converter_ros1 --force-cmake -DBUILD_TESTING=ON
          catkin run_tests