Feature/ds mpc wheel constraints #102

	name: Build and Test

	on:
	push:
	branches:
	- master
	- develop
	pull_request:
	branches:
	- master
	- develop

	jobs:
	build-and-test:
	name: Build and Test
	if: github.event_name == 'push' \|\| !github.event.pull_request.draft
	runs-on: ubuntu-22.04
	env:
	VEXU_HOME: ${{github.workspace}}

	steps:
	- name: Prune System Packages
	run: sudo apt-get remove libunwind-14 libunwind-14-dev dotnet aspnet powershell azure firefox

	- name: Update System Packages
	run: \|
	sudo apt-get update
	sudo apt-get upgrade -y

	- name: Checkout Branch
	uses: actions/checkout@v4
	with:
	submodules: true

	- name: Install ROS2 Humble
	uses: ros-tooling/[email protected]
	with:
	required-ros-distributions: humble

	- name: Set Environment Variables
	run: \|
	env > ~/temp_env_1
	source /opt/ros/humble/setup.sh
	export GAZEBO_PLUGIN_PATH=$VEXU_HOME/build/ghost_sim:$GAZEBO_PLUGIN_PATH
	export CUDA_PATH=/usr/local/cuda-12.2
	export CUDA_HOME=/usr/local/cuda-12.2
	export LD_LIBRARY_PATH=/usr/local/lib/:/usr/local/cuda-12.2/lib64:$LD_LIBRARY_PATH
	export PATH=/usr/local/cuda-12.2/bin${PATH:+:${PATH}}
	env > ~/temp_env_2
	diff ~/temp_env_1 ~/temp_env_2 \| sed '/^[^>]/d' \| sed 's/> //'g \| xargs -n1 echo >> $GITHUB_ENV

	- name: Update Dependencies
	run: ./scripts/update_dependencies.sh

	- name: Build Submodules
	run: ./scripts/setup_submodules.sh

	- name: Build
	run: \|
	env > ~/temp_env_1
	./scripts/build.sh -r
	source $VEXU_HOME/install/setup.bash
	env > ~/temp_env_2
	diff ~/temp_env_1 ~/temp_env_2 \| sed '/^[^>]/d' \| sed 's/> //'g \| xargs -n1 echo >> $GITHUB_ENV

	- name: Test
	run: ./scripts/test_full.sh

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