build_and_test.yml

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