ros-packaging.yml

name: ROS 2 CI

on: [push, pull_request]

jobs:
  build-and-test:
    runs-on: ubuntu-latest

    env:
      ROS_DISTRO: humble
      ROS_WS: /home/runner/work/ros2_ws/ros2_ws

    steps:
    - name: Checkout code
      uses: actions/checkout@v3

    - name: Set up ROS 2
      run: |
        sudo apt-get update
        sudo apt-get install -y curl gnupg lsb-release
        sudo sh -c 'echo "deb http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
        curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
        sudo apt-get update
        sudo apt-get install -y \
          ros-${{ env.ROS_DISTRO }}-desktop \
          python3-colcon-common-extensions \
          python3-rosdep \
          python3-vcstool \
          build-essential \
          cmake

    - name: Install dependencies
      run: |
        sudo rosdep init
        rosdep update
        mkdir -p $ROS_WS/src
        cp -r $GITHUB_WORKSPACE/* $ROS_WS/src
        cd $ROS_WS
        rosdep install --from-paths src --ignore-src -r -y

    - name: Build packages
      run: |
        cd $ROS_WS
        source /opt/ros/${{ env.ROS_DISTRO }}/setup.sh
        colcon build --event-handlers console_cohesion+

    - name: Run tests
      run: |
        cd $ROS_WS
        source install/setup.sh
        colcon test --event-handlers console_cohesion+
        colcon test-result --verbose