basic-build-ci.yaml

name: Basic Build Workflow

on:
  push:
    branches: [rolling]
  pull_request:
    types: [opened, reopened, synchronize]

jobs:
  build-rolling:
    runs-on: ubuntu-latest
    strategy:
      fail-fast: false
    container:
      image: osrf/ros2:devel
    steps:
    - name: Checkout repo
      uses: actions/checkout@v4
    - name: Create Workspace
      run: |
        mkdir src_tmp
        mv `find -maxdepth 1 -not -name . -not -name src_tmp` src_tmp/
        mv src_tmp/ src/
    - name: Install Prerequisites
      run: |
        bash -c 'source /opt/ros/rolling/setup.bash; \
        apt-get update && apt-get upgrade -y && rosdep update; \
        rosdep install --from-paths src --ignore-src --rosdistro=rolling -y'
    - name: Build Workspace
      run: |
        bash -c 'source /opt/ros/rolling/setup.bash; \
        colcon build'
    - name: Run Tests
      run: |
        bash -c 'source /opt/ros/rolling/setup.bash; \
        colcon test; \
        colcon test-result --verbose'
  build-rolling-testing:
    runs-on: ubuntu-latest
    strategy:
      fail-fast: false
    container:
      image: osrf/ros2:testing
    steps:
    - name: Checkout repo
      uses: actions/checkout@v4
    - name: Create Workspace
      run: |
        mkdir src_tmp
        mv `find -maxdepth 1 -not -name . -not -name src_tmp` src_tmp/
        mv src_tmp/ src/
    - name: Install Prerequisites
      run: |
        apt update -qq
        apt install -qq -y lsb-release wget curl gnupg2 git
        curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros2-testing-archive-keyring.gpg
        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros2-testing-archive-keyring.gpg] http://packages.ros.org/ros2-testing/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
        apt-get update && apt-get upgrade -q -y
        bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
        apt-get update && apt-get upgrade -y && rosdep update; \
        rosdep install --from-paths src --ignore-src -y'
    - name: Build Workspace
      run: |
        bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
        colcon build'
    - name: Run Tests
      run: |
        bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
        colcon test; \
        colcon test-result --verbose'