cpp_test.yml

# This is a basic workflow to help you get started with Actions
name: Test ROS C++

# Controls when the workflow will run
on: 
  pull_request:
    branches:
      - main
  push:
    branches:
      - main
jobs:
  test_docker: # On Linux, iterates on all ROS 1 and ROS 2 distributions.
      runs-on: ubuntu-latest
      strategy:
        matrix:
          ros_distribution:
            - noetic
  
          # Define the Docker image(s) associated with each ROS distribution.
          # The include syntax allows additional variables to be defined, like
          # docker_image in this case. See documentation:
          # https://help.github.com/en/actions/reference/workflow-syntax-for-github-actions#example-including-configurations-in-a-matrix-build
          #
          # Platforms are defined in REP 3 and REP 2000:
          # https://ros.org/reps/rep-0003.html
          # https://ros.org/reps/rep-2000.html
          include:
            # Noetic Ninjemys (May 2020 - May 2025)
            - docker_image: ubuntu:focal
              ros_distribution: noetic
              ros_version: 1  
              
      container:
        image: ${{ matrix.docker_image }}
      steps:
        - name: Install basic dependencies
          run: apt-get update && apt-get install git -y
        - name: Setup credentials to access private repositories
          run: git config --global url."https://${{ secrets.PAT_SECRET }}@github.com/".insteadOf ssh://git@github.com/        
        - name: setup ROS environment
          uses: ros-tooling/setup-ros@v0.7
          with:
            required-ros-distributions: ${{ matrix.ros_distribution }}
        - name: build and test ROS 1
          if: ${{ matrix.ros_version == 1 }}
          uses: ros-tooling/action-ros-ci@v0.2
          with:
            # package-name: YOUR_PACKAGE_HERE MORE_PACKAGES_HERE
            target-ros1-distro: ${{ matrix.ros_distribution }}