main.yml

# This is a basic workflow to help you get started with Actions
name: CI

# Controls when the action will run. Triggers the workflow on push or pull request
# events but only for the master branch
on:
  push:
    branches: [ master ]
  pull_request:
    branches: [ master ]

# A workflow run is made up of one or more jobs that can run sequentially or in parallel
jobs:
  build: # On Linux, iterates on all ROS 1 and ROS 2 distributions.
    runs-on: ubuntu-latest
    strategy:
      matrix:
        ros_distribution:
          - noetic
          - humble
          - jazzy

        # 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: ghcr.io/catthehacker/ubuntu:act-20.04
            ros_distribution: noetic
            ros_version: 1

          # Humble Hawksbill (May 2022 - May 2027)
          - docker_image: ghcr.io/catthehacker/ubuntu:act-22.04
            ros_distribution: humble
            ros_version: 2

          # Jazzy Jalisco (May 2024 - May 2029)
          - docker_image: ubuntu:24.04
            ros_distribution: jazzy
            ros_version: 2

    container:
      image: ${{ matrix.docker_image }}
    steps:
      - name: Update Git
        run: |
          apt-get update
          apt-get install git -y
      
      - uses: actions/checkout@v4
        with:
          submodules: recursive

      - name: Ubuntu 24.04 specific apt packages
        if: ${{ contains(matrix.docker_image,'ubuntu:24.04') }}
        run: |
          apt-get update
          DEBIAN_FRONTEND=noninteractive TZ=Etc/UTC apt-get -y install tzdata
          apt-get install -y sudo python3-pip libboost-all-dev nodejs
          sudo pip3 install -U rosdep --break-system-packages


      - name: Act dependencies
        if: ${{ env.ACT }}
        run: |
          apt-get install gnupg lsb-release -y

      - name: setup ROS environment
        uses: ros-tooling/setup-ros@0.7.9
        with:
          required-ros-distributions: ${{ matrix.ros_distribution }}

      - name: Apt packages
        run: |
          apt-get update
          apt-get -y install rsync libyaml-cpp-dev libcurl4-openssl-dev lsb-release wget software-properties-common gnupg

      - name: Setup AirSim
        run: |
          ./setup.sh
          ./build.sh
        working-directory: AirSim

      - name: Update rosdep
        run: |
          rosdep update

      - name: build and test ROS 1
        if: ${{ matrix.ros_version == 1 }}
        shell: bash
        run: |
          apt-get install -y python3-catkin-tools
          source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
          rosdep install --from-paths src --ignore-src -r -y --rosdistro ${{ matrix.ros_distribution }}
          catkin init
          catkin build --no-status
        working-directory: ros

      - name: build and test ROS 2
        if: ${{ matrix.ros_version == 2 }}
        shell: bash
        run: |
          source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
          rosdep install --from-paths src --ignore-src -r -y --rosdistro ${{ matrix.ros_distribution }}
          colcon build
        working-directory: ros2