default.yml

name: default

on:
  push:
    branches:
      - "**"
      - "!experiment-*"
  pull_request:
    branches:
      - "**"

jobs:
  build:
    strategy:
      matrix:
        container: ["westonrobot/ros:humble-ci-latest"]
        runner: ["ubuntu-latest"]
    runs-on: ubuntu-latest
    container:
      image: ${{ matrix.container }}
    defaults:
      run:
        shell: bash
    steps:
      - name: Upgrade git if on Ubuntu 18.04
        if: |
          contains(matrix.container, 'bionic') || contains(matrix.container, 'zephyr') || contains(matrix.container, 'melodic')
        run: |
          sudo add-apt-repository -y ppa:git-core/ppa
          sudo apt-get update
          sudo apt-get install -y git
      - name: Create colcon workspace
        run: |
          mkdir -p ${GITHUB_WORKSPACE}/colcon_ws/src
      - name: Checkout
        uses: actions/checkout@v4
        with:
          submodules: recursive
          path: "colcon_ws/src/"
      - name: Install boost
        run: |
          apt-get update && apt-get -y install libboost-all-dev
      - name: Install latest stable wrp_sdk
        run: |
          sudo apt-get update
          sudo install -m 0755 -d /etc/apt/keyrings
          curl -fsSL http://deb.westonrobot.net/signing.key | sudo gpg --batch --yes --dearmor -o /etc/apt/keyrings/weston-robot.gpg
          sudo chmod a+r /etc/apt/keyrings/weston-robot.gpg
          echo \
              "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/weston-robot.gpg] http://deb.westonrobot.net/$(lsb_release -cs) $(lsb_release -cs) main" | \
              sudo tee /etc/apt/sources.list.d/weston-robot.list > /dev/null
          sudo apt-get update
          apt-get update && apt-get -y install wrp-sdk
      - name: Install latest lely-can
        run: |
          add-apt-repository ppa:lely/ppa
          apt-get update && apt-get -y install pkg-config liblely-coapp-dev liblely-co-tools
      - name: Install ROS dependencies
        run: |
          apt-get install -y python3-rosdep
          if [ ! -e /etc/ros/rosdep/sources.list.d/20-default.list ]; then rosdep init; fi
          cd ${GITHUB_WORKSPACE}/colcon_ws
          source /opt/ros/${ROS_DISTRO}/setup.bash
          rosdep update
          rosdep install -y -r --ignore-src --from-paths src --rosdistro ${ROS_DISTRO}
      - name: Colcon build
        run: |
          cd ${GITHUB_WORKSPACE}/colcon_ws
          source /opt/ros/${ROS_DISTRO}/setup.bash
          colcon build --symlink-install --cmake-args " -DCMAKE_BUILD_TYPE=Release"