Using `setup-gazebo` GitHub Action to install Gazebo in CI #229

	name: ubuntu-build

	on: [push, pull_request, workflow_dispatch]
	# paths:
	# - "*"
	# - "!README.md" <-- don't rebuild on doc change
	concurrency:
	group: ci-${{github.workflow}}-${{ github.ref }}
	cancel-in-progress: true

	jobs:
	build:
	runs-on: ubuntu-22.04
	name: ubuntu-build
	steps:
	- name: Checkout
	uses: actions/checkout@v3
	with:
	submodules: 'recursive'

	- name: Setup Gazebo
	uses: gazebo-tooling/setup-gazebo@v0.3.0
	with:
	required-gazebo-distributions: harmonic

	- name: Install Build Dependencies
	shell: bash
	run: \|
	sudo apt update && sudo apt install --no-install-recommends -y \
	software-properties-common \
	make \
	cmake \
	ccache \
	g++ \
	git
	sudo apt update && sudo apt install --no-install-recommends -y \
	rapidjson-dev \
	libopencv-dev \
	libunwind-dev \
	libgstreamer1.0-dev \
	libgstreamer-plugins-base1.0-dev \
	gstreamer1.0-plugins-bad \
	gstreamer1.0-libav \
	gstreamer1.0-gl

	# Put ccache into github cache for faster build
	- name: Prepare ccache timestamp
	id: ccache_cache_timestamp
	run: \|
	NOW=$(date -u +"%F-%T")
	echo "::set-output name=timestamp::${NOW}"

	- name: Cache ccache files
	uses: actions/cache@v2
	with:
	path: ~/.ccache
	key: ${{github.workflow}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
	restore-keys: ${{github.workflow}}-ccache- # restore ccache from either previous build on this branch or on master

	- name: Setup ccache
	run: \|
	. .github/workflows/ccache.env

	- name: Build
	shell: bash
	run: \|
	mkdir build && cd build
	cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
	make -j4

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