[CI] testing

.github/workflows/build.yaml

@@ -1,39 +1,62 @@
 name: build
 on:
-  push:
   pull_request:
   schedule:
     - cron: '55 0 * * *'
 
+defaults:
+  run:
+    shell: bash
+concurrency:
+  group: ${{ github.head_ref || github.ref_name }}
+  cancel-in-progress: true
 jobs:
   build_and_test:
-    name: Build and test
-    runs-on: ubuntu-latest
     strategy:
+      fail-fast: false
       matrix:
         ros_distribution:
           - galactic
           - rolling
         include:
           # Galactic Geochelone (May 2021 - November 2022)
-          - docker_image: ubuntu:focal
+          - ubuntu_distribution: focal
             ros_distribution: galactic
             ros_version: 2
           # Rolling Ridley (No End-Of-Life)
-          - docker_image: ubuntu:jammy
+          - ubuntu_distribution: jammy
             ros_distribution: rolling
             ros_version: 2
+    name: Build and test
+    runs-on: ubuntu-latest
     container:
-      image: ${{ matrix.docker_image }}
+      image: osrf/ros:${{ matrix.ros_distribution }}-desktop-${{ matrix.ubuntu_distribution }}
     steps:
-      - name: pwd
-        run: pwd
-      - name: setup ROS environment
-        uses: ros-tooling/[email protected]
-        with:
-          required-ros-distributions: ${{ matrix.ros_distribution }}
-      - name: build
+      - name: install_clang_and_tools
+        run: sudo apt update && sudo apt install -y clang clang-tools lld wget python3-pip python3-colcon-coveragepy-result python3-colcon-lcov-result lcov
+      # TODO: fix for cryptography>2.8 failing in galactic https://github.com/open-rmf/rmf/pull/202#pullrequestreview-1100045417
+      - name: fix cryptography==2.8 # https://github.com/open-rmf/rmf/pull/202#pullrequestreview-1100045417
+        run: pip3 install cryptography==2.8
+        if: ${{ matrix.ros_distribution == 'galactic' || matrix.ros_distribution == 'foxy' }}
+      # TODO: remove this when uncrustify 0.72 is fixed https://github.com/uncrustify/uncrustify/issues/3191
+      - name: hack for uncrustify 0.72 problems
+        run: wget http://mirrors.kernel.org/ubuntu/pool/universe/u/uncrustify/uncrustify_0.69.0+dfsg1-1build1_amd64.deb && dpkg -i uncrustify_0.69.0+dfsg1-1build1_amd64.deb && apt install -f -y
+        if: ${{ matrix.ubuntu_distribution == 'jammy'}}
+      # TODO: Remove this step when the incompatibility between libunwind14 and libundind dissapears https://github.com/open-rmf/rmf_traffic_editor/issues/439
+      - name: Horrible hack for libceres
+        run: |
+          apt-get remove -y --purge libc++-dev || true 
+          apt-get remove -y --purge libc++abi-dev || true
+          apt-get remove -y --purge libunwind-14-dev || true 
+          apt-get remove -y --purge libunwind-14-dev || true 
+          apt-get remove -y --purge libunwind-dev || true
+          apt -y autoremove
+        if: ${{ matrix.ubuntu_distribution == 'jammy'}}
+      - name: build_and_test
         uses: ros-tooling/[email protected]
+        env:
+          CC: clang
+          QT_QPA_PLATFORM: offscreen
         with:
           target-ros2-distro: ${{ matrix.ros_distribution }}
           # build all packages listed in the meta package
@@ -44,7 +67,7 @@ jobs:
           colcon-defaults: |
             {
               "build": {
-                "mixin": ["coverage-gcc"]
+                "mixin": ["coverage-gcc", "lld"]
               }
             }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml