build.yml

name: Compile and test

on:
  push:
  pull_request:
    branches:
      - main
  workflow_dispatch:

env:
  PACKAGE_NAME: delphyne
  ROS_DISTRO: foxy
  ROS_WS: maliput_ws

jobs:
  compile_and_test:
    name: Compile and test
    runs-on: ubuntu-latest
    container:
      image: ubuntu:20.04
    steps:
    # setup-ros first since it installs git, which is needed to fetch all branches from actions/checkout
    - uses: ros-tooling/setup-ros@v0.6
      env:
        ACTIONS_ALLOW_UNSECURE_COMMANDS: true
    - uses: actions/checkout@v4
      with:
        path: ${{ env.ROS_WS }}/src/${{ env.PACKAGE_NAME }}
    # clone public dependencies
    - name: vcs import
      shell: bash
      working-directory: ${{ env.ROS_WS }}
      run: vcs import src < src/${PACKAGE_NAME}/.github/dependencies.repos
    - name: check if dependencies have a matching branch
      shell: bash
      working-directory: ${{ env.ROS_WS }}/src
      run: ./${PACKAGE_NAME}/.github/try_vcs_checkout ${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}} .
    - run: colcon graph
      shell: bash
      working-directory: ${{ env.ROS_WS }}
    - name: rosdep install
      shell: bash
      working-directory: ${{ env.ROS_WS }}
      run: |
        rosdep update --include-eol-distros;
        rosdep install  -i -y --rosdistro ${ROS_DISTRO} --from-paths src
    - name: install drake
      shell: bash
      working-directory: ${{ env.ROS_WS }}/src/drake_vendor
      run: ./drake_installer
    # Build libraries.
    - name: colcon build libraries
      shell: bash
      working-directory: ${{ env.ROS_WS }}
      run: |
        . /opt/ros/${ROS_DISTRO}/setup.bash;
        colcon build --packages-up-to ${PACKAGE_NAME} \
          --event-handlers=console_direct+ \
          --cmake-args -DBUILD_TESTING=ON -DBUILD_DOCS=OFF;
    # Build tests for current package.
    - name: colcon build tests
      shell: bash
      working-directory: ${{ env.ROS_WS }}
      run: |
        . /opt/ros/${ROS_DISTRO}/setup.bash;
        colcon build --packages-select ${PACKAGE_NAME} \
          --event-handlers=console_direct+ \
          --cmake-args -DBUILD_TESTING=ON -DBUILD_DOCS=OFF;
    # Test package.
    - name: colcon test
      shell: bash
      working-directory: ${{ env.ROS_WS }}
      run: |
        . /opt/ros/${ROS_DISTRO}/setup.bash;
        . install/setup.bash;
        colcon test --packages-select ${PACKAGE_NAME} --event-handlers=console_direct+;
        colcon test-result --verbose;
    # Build documentation.
    - name: colcon build ament_cmake_doxygen
      shell: bash
      working-directory: ${{ env.ROS_WS }}
      run: |
        . /opt/ros/${ROS_DISTRO}/setup.bash;
        colcon build --packages-select ament_cmake_doxygen --event-handlers=console_direct+;
    - name: colcon build doxygen documentation
      shell: bash
      working-directory: ${{ env.ROS_WS }}
      run: |
        . /opt/ros/${ROS_DISTRO}/setup.bash;
        . install/setup.bash;
        colcon build --packages-up-to ${PACKAGE_NAME} --packages-skip ament_cmake_doxygen \
            --event-handlers=console_direct+ \
            --cmake-args -DBUILD_TESTING=ON -DBUILD_DOCS=ON;
    # Test doxygen documentation.
    - name: colcon test doxygen documentation
      shell: bash
      working-directory: ${{ env.ROS_WS }}
      run: |
        . /opt/ros/${ROS_DISTRO}/setup.bash;
        . install/setup.bash;
        colcon test --packages-select ${PACKAGE_NAME} \
            --ctest-args ' -R' ' delphyne_doxygen_warnings' \
            --event-handlers=console_direct+;
        colcon test-result --verbose;