Center of the world #292

	name: ROS2 Build and Test CI

	on:
	push:
	workflow_dispatch:

	jobs:
	build_and_test:
	runs-on: ubuntu-20.04
	container:
	image: hashaam1217/subbots_triton_testing:1.0.1
	steps:
	- name: Ensure Permissions
	run: \|
	sudo mkdir -p /__w/_temp
	sudo mkdir -p /__w/_actions
	sudo chmod -R 777 /__w/_temp
	sudo chmod -R 777 /__w/_actions

	- name: Update and upgrade
	run: \|
	sudo apt update -y
	sudo apt upgrade -y

	- name: Check out ubc-subbots/triton
	uses: actions/checkout@v2

	- name: Install deps with rosdep
	run: \|
	rosdep init
	rosdep update --include-eol
	rosdep install -i --from-path src --rosdistro foxy -y

	- name: Cache OpenCV
	id: opencv-cache
	uses: actions/cache@v2
	with:
	path: ./opencv-install
	key: ${{ runner.os }}-opencv-cache

	- name: Install OpenCV
	uses: rayandrews/with-opencv-action@v1
	with:
	dir: ./opencv-install
	cached: ${{ steps.opencv-cache.outputs.cache-hit }}
	opencv-version: '4.5.3'
	CMAKE_BUILD_TYPE: RELEASE
	ENABLE_PRECOMPILED_HEADERS: OFF

	- name: Ignore with colcon build
	run: \|
	touch ./opencv-install/COLCON_IGNORE

	- name: Source setup and build then test using colcon
	shell: bash
	env:
	LD_LIBRARY_PATH: /usr/local/lib/
	run: \|
	source /opt/ros/foxy/setup.bash
	source /usr/share/gazebo/setup.sh
	colcon build --cmake-args -DCMAKE_CXX_STANDARD=14
	source ./install/setup.bash
	colcon test
	colcon test-result --verbose

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