From d1357313ae4e2aed476187e9356f0f42670606fe Mon Sep 17 00:00:00 2001
From: Pablo Garrido <pablogs9@gmail.com>
Date: Thu, 22 Feb 2024 08:58:43 +0100
Subject: [PATCH] Fix

---
 .github/workflows/ci.yml   | 13 +++++++++----
 build_micro_ros_library.sh |  4 ++--
 2 files changed, 11 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 53994f9..f3f4843 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -15,25 +15,30 @@ concurrency:
 jobs:
     Build:
         runs-on: ubuntu-latest
-        image: ubuntu:22.04
+        container:
+          image: ubuntu:22.04
         steps:
           - name: Checkout
             uses: actions/checkout@v4
             with:
               fetch-depth: 0
+              submodules: recursive
               clean: true
               path: repo
 
           - name: Deps
             run: |
               apt update
-              apt install -y python3 python3-pip git build-essential cmake rsync
+              apt install -y python3 python3-pip git build-essential cmake rsync gcc-arm-none-eabi
               pip3 install catkin_pkg lark-parser colcon-common-extensions
-              apt install gcc-arm-none-eabi
 
           - name: Build
             run: |
               cd repo
               MICROROS_TARGET=GENERIC_ARM ./build_micro_ros_library.sh
               export TOOLCHAIN_PREFIX=arm-none-eabi-
-              cmake .. -DCMAKE_TOOLCHAIN_FILE=/ws/toolchain.cmake
\ No newline at end of file
+              cd .github/sample_ci_project
+              mkdir build
+              cd build
+              cmake .. -DCMAKE_TOOLCHAIN_FILE=/ws/toolchain.cmake
+              make -j$(nproc)
\ No newline at end of file
diff --git a/build_micro_ros_library.sh b/build_micro_ros_library.sh
index 3fe11b5..cd61dd5 100755
--- a/build_micro_ros_library.sh
+++ b/build_micro_ros_library.sh
@@ -96,7 +96,7 @@ fi
 if [ ! -d "$MICRO_ROS_BUILD_DIR/dev/install" ]; then
     # Install micro-ROS dev environment
     pushd $MICRO_ROS_BUILD_DIR/dev/ > /dev/null
-        colcon build ;
+        colcon build --event-handlers compile_commands- console_stderr-;
     popd > /dev/null
 fi
 
@@ -162,7 +162,7 @@ if [ ! -d "$MICRO_ROS_BUILD_DIR/microros/install" ]; then
             --merge-install \
             --packages-ignore-regex=.*_cpp \
             --metas $COLCON_META \
-            --event-handlers compile_commands- \
+            --event-handlers compile_commands- console_stderr- \
             --cmake-args \
             "--no-warn-unused-cli" \
             -DCMAKE_POSITION_INDEPENDENT_CODE:BOOL=OFF \