main.yml

# This is a basic workflow to help you get started with Actions

name: CI

# Controls when the workflow will run
on:
  # Triggers the workflow on push or pull request events but only for the development branch
  push:
    branches: [ development ]
  pull_request:
    branches: [ development ]

  # Allows you to run this workflow manually from the Actions tab
  workflow_dispatch:

# A workflow run is made up of one or more jobs that can run sequentially or in parallel
jobs:
  # This workflow contains a single job called "build"
  build:
    name: Build on ros ${{ matrix.ros_distro }} and ${{ matrix.os }}
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        os: [ubuntu-20.04, ubuntu-18.04]
        include:
        - os: ubuntu-20.04
          ros_distro: 'noetic'
          _python: 'python3'
        - os: ubuntu-18.04
          ros_distro: 'melodic'
          _python: 'python'

    steps:   
    - uses: ros-tooling/setup-ros@v0.2
      with:
        required-ros-distributions: ${{ matrix.ros_distro }}
    
    - name: Install dependencies
      run: |
        echo _python:${{ matrix._python }}
        echo ros_distro:${{ matrix.ros_distro }}
        sudo apt-get update
        sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com --recv-key C8B3A55A6F3EFCDE
        sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main"
        sudo apt-get update -qq
        sudo apt-get install librealsense2-dev --allow-unauthenticated -y

    - name: Setup catkin workspace
      run: | 
        echo "source /opt/ros/${{ matrix.ros_distro }}/setup.bash" >> ${{github.workspace}}/.bashrc
        source ${{github.workspace}}/.bashrc
        mkdir -p ${{github.workspace}}/catkin_ws/src
        cd ${{github.workspace}}/catkin_ws/src
        catkin_init_workspace
        cd ..
        
    - uses: actions/checkout@v2
      with:
        path: 'catkin_ws/src/realsense-ros'

    - name: Build
      run: | 
        source ${{github.workspace}}/.bashrc
        cd ${{github.workspace}}/catkin_ws
        rosdep update
        rosdep install -i --from-path src --rosdistro ${{ matrix.ros_distro }} -y
        
        catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
        catkin_make install
        echo "source ${{github.workspace}}/catkin_ws/devel/setup.bash" >> ${{github.workspace}}/.bashrc
        source ${{github.workspace}}/.bashrc
        
    - name: Download data
      run: |
        cd ${{github.workspace}}/catkin_ws
        bag_filename="https://librealsense.intel.com/rs-tests/TestData/outdoors_1color.bag";
        wget $bag_filename -P "records/"
        bag_filename="https://librealsense.intel.com/rs-tests/D435i_Depth_and_IMU_Stands_still.bag";
        wget $bag_filename -P "records/"
      
    - name: Run tests
      run: |
        cd ${{github.workspace}}/catkin_ws
        source ${{github.workspace}}/.bashrc
        ${{ matrix._python }} src/realsense-ros/realsense2_camera/scripts/rs2_test.py non_existent_file