default.yml

name: default

on:
  push:
    branches:
      - "**"
      - "!experiment-*"
  pull_request:
    branches:
      - main
      - devel

jobs:
  build_livox:
    runs-on: ubuntu-latest
    container:
        image: ros:humble-ros-base
    defaults:
        run:
          shell: bash
    steps:
      - name: Install dependencies
        run: |
          sudo apt-get update
          sudo apt-get install -y python3-vcstool software-properties-common curl
          sudo apt-get install -y ros-${ROS_DISTRO}-perception-pcl \
            ros-${ROS_DISTRO}-pcl-msgs \
            ros-${ROS_DISTRO}-vision-opencv \
            ros-${ROS_DISTRO}-xacro
          sudo add-apt-repository ppa:borglab/gtsam-release-4.1
          sudo apt-get install -y libgtsam-dev libgtsam-unstable-dev
      - name: Install wrp-sdk
        run: |
          sudo install -m 0755 -d /etc/apt/keyrings
          curl -fsSL http://deb.westonrobot.net/signing.key | sudo gpg --dearmor -o /etc/apt/keyrings/weston-robot.gpg
          sudo chmod a+r /etc/apt/keyrings/weston-robot.gpg
          echo \
            "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/weston-robot.gpg] http://deb.westonrobot.net/$(lsb_release -cs) $(lsb_release -cs) main" | \
            sudo tee /etc/apt/sources.list.d/weston-robot.list > /dev/null
          sudo apt-get update
          sudo apt-get install -y wrp-sdk
      - name: Install Livox-SDK2
        run: |
          mkdir /tmp/livox && cd /tmp/livox
          git clone https://github.com/Livox-SDK/Livox-SDK2.git
          cd Livox-SDK2
          mkdir build && cd build && cmake .. && make
          sudo make install
      - name: Checkout
        uses: actions/checkout@v4
        with:
          submodules: recursive
      - name: Build the project
        run: |
          vcs import src < livox_mapping.repos
          source /opt/ros/$ROS_DISTRO/setup.bash && colcon build --symlink-install