build.yml

# Simple set of rules for GitHub actions integration with a ROS project
#

name: Build

on:
  push:
    branches:
      - main
  pull_request:

env:
  CORTEX_PATH: ${{ github.workspace }}/cortex

jobs:
  install-cortex:
    runs-on: ubuntu-22.04
    steps:
      - name: Cache CORTEX
        id: cache-cortex
        uses: actions/cache@v4
        with:
          path: ${{ env.CORTEX_PATH }}
          key: cortex-${{ runner.os }}-ubuntu-22.04
      - name: Install Cortex
        if: steps.cache-cortex.outputs.cache-hit != 'true'
        run: |
          mkdir -p $CORTEX_PATH && cd $CORTEX_PATH
          curl -o installation.sh https://raw.githubusercontent.com/grupo-avispa/cortex/development/installation.sh
          chmod +x installation.sh
          ./installation.sh
  build-dsr-ros:
    runs-on: ubuntu-22.04
    needs: install-cortex
    steps:
      - name: Cache APT Packages
        uses: awalsh128/cache-apt-pkgs-action@v1.4.2
        with:
          packages: qtbase5-dev
      - name: Checkout Repository
        uses: actions/checkout@v4.1.6
      - name: Setup ROS 2
        uses: ros-tooling/setup-ros@0.7.5
      - name: Restore CORTEX cache
        id: restore-cache-cortex
        uses: actions/cache@v4
        with:
          path: ${{ env.CORTEX_PATH }}
          key: cortex-${{ runner.os }}-ubuntu-22.04
      - name: Restore CORTEX headers
        if: steps.restore-cache-cortex.outputs.cache-hit == 'true'
        run: |
          cd $CORTEX_PATH/cortex/build && make install
      - name: Build packages
        uses: ros-tooling/action-ros-ci@0.3.13
        with:
          package-name: 
            dsr_ros
            dsr_agents
            dsr_bridge
            dsr_msgs
            dsr_rqt_plugin
            dsr_util
          target-ros2-distro: humble
          colcon-defaults: |
            {
              "build": {
                "mixin": ["coverage-gcc", "coverage-pytest"]
              },
              "test": {
                "mixin": ["coverage-pytest"]
              }
            }
          skip-tests: false
      - name: Upload coverage reports to Codecov
        uses: codecov/codecov-action@v4.4.1
        with:
          token: ${{ secrets.CODECOV_TOKEN }}
          files: ros_ws/lcov/total_coverage.info,ros_ws/coveragepy/.coverage
          flags: unittests
          name: codecov-umbrella
          slug: grupo-avispa/dsr_ros