main.yml

name: build

on:
  pull_request:
    branches:
      - humble
      - develop

jobs:
    job:
          name: Build
          runs-on: ubuntu-22.04
          container: ros:humble-ros-core
          steps:
            - name: Install Git and software-properties-common
              run: |
                  apt-get update
                  apt-get install -y git software-properties-common
              shell: bash
            - uses: actions/checkout@v2
              with:
                submodules: true
            - name: Copy repository
              run: |
                  mkdir -p ~/ros2_ws/src/li_slam_ros2
                  cp -rf . ~/ros2_ws/src/li_slam_ros2
            - name: Install gtsam
              run: |
                  add-apt-repository ppa:borglab/gtsam-release-4.1
                  apt update
                  apt install -y libgtsam-dev libgtsam-unstable-dev
            - name: Install dependencies
              run: |
                  source /opt/ros/humble/setup.bash
                  apt install -y python3-rosdep
                  rosdelp init
                  rosdep update
                  cd ~/ros2_ws/src
                  rosdep install -r -y --from-paths . --ignore-src
              shell: bash
            - name: Build packages
              run: |
                  source /opt/ros/humble/setup.bash
                  # Install colcon
                  # Ref: https://index.ros.org/doc/ros2/Tutorials/Colcon-Tutorial/
                  sudo apt install python3-colcon-common-extensions
                  cd ~/ros2_ws
                  colcon build
                  source ~/ros2_ws/install/setup.bash
              shell: bash