ci.yaml

name: Gazebo ros2 control CI

on:
  pull_request:
  push:
    branches:
      - master
      - humble

jobs:
  build:
    runs-on: ubuntu-latest
    container:
      image: osrf/ros:rolling-desktop
    steps:
    - uses: actions/checkout@v4
    - name: Setup colcon workspace
      id: configure
      run: |
        cd ..
        mkdir -p /home/ros2_ws/src
        cp -r gazebo_ros2_control /home/ros2_ws/src/
        apt-get update && apt-get upgrade -q -y
        apt-get update && apt-get install -q -y --no-install-recommends \
          dirmngr \
          gnupg2 \
          lsb-release \
          python3-colcon-ros
        cd /home/ros2_ws/src/
        rosdep update
        rosdep install --from-paths ./ -i -y --rosdistro rolling \
          --ignore-src
    - name: Build project
      id: build
      run: |
        cd /home/ros2_ws/
        . /opt/ros/rolling/local_setup.sh
        colcon build --packages-up-to gazebo_ros2_control_demos
    - name: Run tests
      id: test
      run: |
        cd /home/ros2_ws/
        . /opt/ros/rolling/local_setup.sh
        colcon test --event-handlers console_direct+ --packages-select gazebo_ros2_control gazebo_ros2_control_demos
        colcon test-result
  build_testing:
    runs-on: ubuntu-latest
    container:
      image: osrf/ros:rolling-desktop
    steps:
    - uses: actions/checkout@v4
    - name: Setup colcon workspace
      id: configure
      run: |
        cd ..
        mkdir -p /home/ros2_ws/src
        cp -r gazebo_ros2_control /home/ros2_ws/src/
        sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2-testing/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
        apt-get update && apt-get upgrade -q -y
        apt-get update && apt-get install -q -y --no-install-recommends \
          dirmngr \
          gnupg2 \
          lsb-release \
          python3-colcon-ros
        cd /home/ros2_ws/src/
        rosdep update
        rosdep install --from-paths ./ -i -y --rosdistro rolling \
          --ignore-src
    - name: Build project
      id: build
      run: |
        cd /home/ros2_ws/
        . /opt/ros/rolling/local_setup.sh
        colcon build --packages-up-to gazebo_ros2_control_demos
    - name: Run tests
      id: test
      run: |
        cd /home/ros2_ws/
        . /opt/ros/rolling/local_setup.sh
        colcon test --event-handlers console_direct+ --packages-select gazebo_ros2_control gazebo_ros2_control_demos
        colcon test-result