bazelized_drake_ros.yml

name: Bazel Drake-ROS Continuous Integration

on:
  pull_request:
    branches:
      - main
      - develop

jobs:
  bazel_build_and_test:
    runs-on: ubuntu-20.04
    steps:
      - uses: actions/checkout@v2
      - uses: actions/cache@v2
        with:
          path: "/home/runner/.cache/bazel"
          key: bazel-drake-ros
      - name: Install ROS tools (like rosdep)
        uses: ros-tooling/setup-ros@v0.4
      - name: Update rosdep data
        run: rosdep update
      - name: Install bazel_ros2_rules dependencies
        # TODO(sloretz) make bazel_ros2_rules/setup/install_prereqs.sh
        run: sudo apt install python3 python3-toposort
      - name: Download Drake
        run: bazel build @drake//:module_py
        working-directory: drake_ros_core
      - name: Install Drake's dependencies
        run: yes | sudo ./bazel-drake_ros_core/external/drake/setup/ubuntu/install_prereqs.sh
        working-directory: drake_ros_core
      - name: Build drake_ros_core
        run: bazel build //...
        working-directory: drake_ros_core
      - name: Test drake_ros_core
        run: bazel test //...
        working-directory: drake_ros_core