ci-ros2.yml

name: ROS2 (Ubuntu)

on:
  push:
    branches: [ main ]
  pull_request:
    branches: [ main ]

# Based on example provided at https://github.com/ros-tooling/setup-ros

jobs:
  # build: # Docker is not supported on macOS and Windows.
  #   runs-on: ${{ matrix.os }}
  #   strategy:
  #     matrix:
  #       os: [macOS-latest, windows-latest]
  #       ros_distribution:
  #         - galactic
  #   steps:
  #     - uses: ros-tooling/setup-ros@v0.2
  #       with:
  #         required-ros-distributions: ${{ matrix.ros_distribution }}
  #     - name: build and test
  #       uses: ros-tooling/action-ros-ci@v0.2
  #       with:
  #         package-name: crazyswarm
  #         target-ros2-distro: ${{ matrix.ros_distribution }}

  build_docker: # On Linux, use docker
    runs-on: ubuntu-latest
    strategy:
      matrix:
        ros_distribution:
          - galactic
          - humble

        # Define the Docker image(s) associated with each ROS distribution.
        include:
          # Galactic Geochelone (May 2021 - November 2022)
          - docker_image: ubuntu:focal
            ros_distribution: galactic
            ros_version: 2

          # Humble Hawksbill (May 2022 - May 2027)
          - docker_image: ubuntu:jammy
            ros_distribution: humble
            ros_version: 2

    container:
      image: ${{ matrix.docker_image }}
    steps:
      - name: setup ROS environment
        uses: ros-tooling/setup-ros@v0.4
        with:
          required-ros-distributions: ${{ matrix.ros_distribution }}

      # There is a bug in vcstools, where submodules are not pulled recursively
      # See https://github.com/dirk-thomas/vcstool/issues/205
      # This is fixed in master, but not in the latest release
      # Pull the latest version here
      - name: install dependencies
        run: |
          sudo apt -y remove python3-vcstool
          sudo pip3 install git+https://github.com/dirk-thomas/vcstool.git@7d1329f296cef4b767bf7ba0bf53a29dd3d3019c
          vcs --version

      - name: install dependencies
        run: |
          sudo apt update
          sudo apt install -y libusb-1.0-0-dev

      - uses: actions/checkout@v2
      - name: build and test ROS 2
        uses: ros-tooling/action-ros-ci@v0.2
        with:
          # TODO: removed crazyflie_interfaces since it causes some test failures
          package-name: |
            crazyflie
            crazyflie_examples
            crazyflie_sim
          target-ros2-distro: ${{ matrix.ros_distribution }}
          vcs-repo-file-url: rosinstall