Build ROS2 #62

	name: Build ROS2

	on:
	push:
	branches: [ master ]
	pull_request:
	branches: [ master ]
	workflow_dispatch:
	schedule:
	- cron: 0 0 * * *
	release:
	types: [published]

	jobs:
	build_ros2:
	strategy:
	matrix:
	rosdistro: [ humble ]

	runs-on: ubuntu-latest

	continue-on-error: true

	container:
	# There don't seem to be ROS perception docker images for ros2 yet, so we
	# use the base imageand install the rest of the dependencies using rosdep
	# each time.
	image: ros:${{ matrix.rosdistro }}-ros-base

	steps:
	- uses: actions/checkout@v2
	with:
	path: src/tb3_behavior_tree

	- name: Install dependencies
	run: apt -y update

	- name: Install cv-bridge
	run: apt -y install ros-${{ matrix.rosdistro }}-cv-bridge

	- name: Install nav2-msgs
	run: apt -y install ros-${{ matrix.rosdistro }}-nav2-msgs*

	- name: Install behaviortree-cpp-v3
	run: apt -y install ros-${{ matrix.rosdistro }}-behaviortree-cpp-v3

	- name: Build tests
	id: build_test
	run: . /opt/ros/${{ matrix.rosdistro }}/setup.sh && colcon build --event-handlers console_cohesion+
	continue-on-error: true

	- name: build_test command success
	if: steps.build_test.outcome == 'success'
	run: echo "result - success"

	- name: build_test command failure
	if: steps.build_test.outcome == 'failure'
	run: echo "result - failure" && exit 1

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