ros2-humble-ci.yaml

name: ROS2 Humble

on: [push]

concurrency:
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: true

jobs:
  build-ros2-humble:
    runs-on: ubuntu-latest
    container:
      image: ros:humble
    steps:
      - name: Checkout Repo
        uses: actions/checkout@v2
      - name: Build Casadi
        run: |
          bash -c 'apt update; \
          apt install -y gcc g++ gfortran git cmake liblapack-dev pkg-config --install-recommends; \
          apt install -y clang lldb lld llvm libclang-dev llvm-dev; \
          apt install -y --no-install-recommends coinor-libipopt-dev; \
          git clone https://github.com/casadi/casadi.git -b main casadi; \
          cd casadi; mkdir build; cd build; \
          cmake -DWITH_IPOPT=ON -DWITH_SLICOT=ON -DWITH_LAPACK=ON -DWITH_QPOASES=ON -DWITH_OPENCL=ON -DWITH_OSQP=ON -DWITH_CLANG=ON ..; \
          make; \
          make install; \
          echo export LD_LIBRARY_PATH="${LD_LIBRARY_PATH}:/usr/local/lib" >> /etc/bash.bashrc'
      - name: Install ROS Dependencies
        run: |
          bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
          apt-get update && rosdep update; \
          rosdep install --from-paths . --ignore-src -y'
      - name: Build Workspace
        run: |
          bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
          colcon build --event-handlers console_cohesion+'
      - name: Run Tests
        run: |
          bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
          # colcon test --event-handlers console_cohesion+; \
          # colcon test-result --verbose'