ci.yml

name: CI

on: [push, pull_request]

jobs:
  check:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v2
      - name: Set up Python 3.8
        uses: actions/setup-python@v1
        with:
          python-version: 3.8
      - name: Install dependencies
        run: |
          python -m pip install --upgrade pip
          pip install -r requirements.txt
      - name: Check
        run: make check_format

  ros:
    runs-on: ubuntu-latest
    strategy:
      matrix:
        include:
          #- docker_image: melodic-robot
          #  ros_distro: melodic
          #  ros_python_version: 2
          #  ros_version: 1

          - docker_image: noetic-robot
            ros_distro: noetic
            ros_python_version: 3
            ros_version: 1

          - docker_image: foxy
            ros_distro: foxy
            ros_python_version: 3
            ros_version: 2
    container:
      image: ros:${{ matrix.docker_image }}
    env:
      SCENARIO_RUNNER_PATH: ""
      DEBIAN_FRONTEND: "noninteractive"
      ROS_DISTRO: ${{ matrix.ros_distro }}
      ROS_VERSION: ${{ matrix.ros_version }}
      ROS_PYTHON_VERSION: ${{ matrix.ros_python_version }}
    steps:
      # We currently cannot use checkout@v2 because git version on ros images is below 2.18
      - uses: actions/checkout@v1
        with:
          fetch-depth: 1
          submodules: true
      - name: Setup
        run: |
          ./install_dependencies.sh
          sudo apt-get install --no-install-recommends -y python3-rospkg
      - name: ROS2 Build, Test, Lint
        if: ${{ matrix.ros_version == 2 }}
        shell: bash
        run: |
          source /opt/ros/$(rosversion -d)/setup.bash
          colcon build --continue-on-error
          # colcon test && colcon test-result
          source install/setup.bash
      - name: ROS1 Build, Test, Lint
        if: ${{ matrix.ros_version == 1 }}
        shell: bash
        run: |
          mkdir -p $GITHUB_WORKSPACE/../catkin_ws/src
          cd $GITHUB_WORKSPACE/../catkin_ws/src
          ln -s $GITHUB_WORKSPACE
          cd ..
          source /opt/ros/$(rosversion -d)/setup.bash
          catkin init
          cd $GITHUB_WORKSPACE/../catkin_ws &&
          catkin build --summarize --no-status --force-color
          catkin run_tests --no-status --force-color && catkin_test_results
          source devel/setup.bash
          cd $GITHUB_WORKSPACE
        #  make pylint
        # TODO enable pylint

  debian:
    runs-on: ubuntu-latest
    strategy:
      matrix:
        include:
          - docker_image: melodic-robot
            ros_distro: melodic
            ros_python_version: 2
            ros_version: 1

          - docker_image: noetic-robot
            ros_distro: noetic
            ros_python_version: 3
            ros_version: 1
    container:
      image: ros:${{ matrix.docker_image }}
    env:
      SCENARIO_RUNNER_PATH: ""
      DEBIAN_FRONTEND: "noninteractive"
      ROS_DISTRO: ${{ matrix.ros_distro }}
      ROS_VERSION: ${{ matrix.ros_version }}
      ROS_PYTHON_VERSION: ${{ matrix.ros_python_version }}
    steps:
      # We currently cannot use checkout@v2 because git version on ros images is below 2.18
      - uses: actions/checkout@v1
        with:
          fetch-depth: 1
          submodules: true
      - name: Setup
        run: ./install_dependencies.sh
      - name: Build Debian Package
        run: make deb