From 0c7d713c521441197ca1a5fe0704c56019a19bfa Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Thu, 12 Dec 2024 13:49:15 +0100
Subject: [PATCH] Added CI.

---
 .github/ci.rosinstall     |  7 +++++++
 .github/workflows/ci.yaml | 37 +++++++++++++++++++++++++++++++++++++
 2 files changed, 44 insertions(+)
 create mode 100644 .github/ci.rosinstall
 create mode 100644 .github/workflows/ci.yaml

diff --git a/.github/ci.rosinstall b/.github/ci.rosinstall
new file mode 100644
index 0000000..10371ca
--- /dev/null
+++ b/.github/ci.rosinstall
@@ -0,0 +1,7 @@
+# SPDX-License-Identifier: BSD-3-Clause
+# SPDX-FileCopyrightText: Czech Technical University in Prague
+
+- git:
+    local-name: ros-utils
+    uri: https://github.com/ctu-vras/ros-utils.git
+    version: master
\ No newline at end of file
diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
new file mode 100644
index 0000000..19e6e17
--- /dev/null
+++ b/.github/workflows/ci.yaml
@@ -0,0 +1,37 @@
+# SPDX-License-Identifier: BSD-3-Clause
+# SPDX-FileCopyrightText: Czech Technical University in Prague
+
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: CI
+
+# This determines when this workflow is run
+on: [push, pull_request] # on all pushes and PRs
+
+jobs:
+  industrial_ci:
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: noetic, ROS_REPO: testing}
+    env:
+      CCACHE_DIR: ${{ github.workspace }}/.ccache # Directory for ccache (and how we enable ccache in industrial_ci)
+      UPSTREAM_WORKSPACE: .github/ci.rosinstall
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      # This step will fetch/store the directory used by ccache before/after the ci run
+      - name: Cache ccache
+        uses: rhaschke/cache@main
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}-${{ github.sha }}-${{ github.run_id }}
+          restore-keys: |
+            ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}-${{ github.sha }}
+            ccache-${{ matrix.env.ROS_DISTRO }}
+        env:
+          GHA_CACHE_SAVE: always
+      # Run industrial_ci
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{ matrix.env }}