build_test.yml

---
name: Build Test
on:
  push:
    branches:
      - 'ros2'
  pull_request:
    branches:
      - '*'

jobs:
  build:
    runs-on: [ubuntu-22.04]
    strategy:
      fail-fast: false
      matrix:
        config:
          - {rosdistro: 'humble', container: 'osrf/ros:humble-desktop'}
    container: ${{ matrix.config.container }}
    steps:
      - uses: actions/checkout@v4
        with:
          path: src/ethz-asl/terrain-navigation
      - name: Check out source dependencies with vcs
        run: |
          vcs import --recursive --debug --shallow --skip-existing < ethz-asl/terrain-navigation/terrain-navigation.repos
        shell: bash
        working-directory: src
      - name: Install binary dependencies with rosdep
        run: |
          apt update
          rosdep update
          source /opt/ros/humble/setup.bash
          rosdep install --from-paths src --ignore-src -y --rosdistro ${{matrix.config.rosdistro}}
        shell: bash
      - name: Build with colcon
        run: |
          source /opt/ros/humble/setup.bash
          colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to terrain_navigation_ros
        shell: bash
      - name: Run tests
        run: |
          source /opt/ros/humble/setup.bash
          colcon test --paths src/ethz-asl/terrain-navigation --event-handlers=console_cohesion+
          colcon test-result --all --verbose
        shell: bash