build.yaml

name: Build

on:
  workflow_dispatch:
  schedule:
    - cron: '0 9 * * *'
  push:
    branches:
      - main
    paths-ignore:
      - '**/.clang-format'
      - '**/.gitignore'
      - '**/LICENSE'
      - '**/*.md'
      - '**/*.drawio'
  pull_request:
    paths-ignore:
      - '**/.clang-format'
      - '**/.gitignore'
      - '**/LICENSE'
      - '**/*.md'
      - '**/*.drawio'

jobs:
  build:
    runs-on: ubuntu-latest
    container: osrf/ros:humble-desktop-full

    steps:
    - name: Checkout repository
      uses: actions/checkout@v2

    - name: Update and install apt dependencies
      run: |
        sudo apt update -y
        sudo apt install -y rsync
      shell: bash

    - name: Cache IKE_NAV build
      uses: actions/cache@v2
      with:
        path: |
          ~/ros2_ws/build
          ~/ros2_ws/install
          ~/ros2_ws/log
          ~/ros2_ws/src
        key: ${{ runner.os }}-ike_nav-${{ hashFiles('**/package.xml', '**/CMakeLists.txt') }}
        restore-keys: |
          ${{ runner.os }}-ike_nav-

    - name: Sync repository
      run: |
        [ ! -d "~/ros2_ws/src/ike_nav" ] && mkdir -p ~/ros2_ws/src/ike_nav
        rsync -auv --delete . ~/ros2_ws/src/ike_nav
      shell: bash

    - name: Resolve ROS 2 package dependencies
      run: |
        cd ~/ros2_ws
        rosdep update
        rosdep install -i -y --from-path src --rosdistro $ROS_DISTRO
      shell: bash

    - name: Build IKE_NAV
      run: |
        source /opt/ros/$ROS_DISTRO/setup.sh
        cd ~/ros2_ws
        colcon build --symlink-install
      shell: bash