github-actions.yml

name: Build and run ROS tests
on:
  push:
  pull_request:
  workflow_dispatch:
    inputs:
      debug_enabled:
        type: boolean
        description: 'Run the build with tmate debugging enabled (https://github.com/marketplace/actions/debugging-with-tmate)'
        required: false
        default: false
jobs:
  build:
    strategy:
      matrix:
        rosdistro: [humble, iron, rolling]
      fail-fast: false
    runs-on: ubuntu-latest
    container:
      image: ros:${{ matrix.rosdistro }}-ros-core
    steps:
    # Enable tmate debugging of manually-triggered workflows if the input option was provided
    - name: Setup tmate session
      uses: mxschmitt/action-tmate@v3
      if: ${{ github.event_name == 'workflow_dispatch' && inputs.debug_enabled }}
      with:
        detached: true
    - name: Install apt dependencies
      run: |
        apt-get update
        apt-get install -y build-essential clang-format file git python3-pip python3-colcon-common-extensions python3-rosdep pre-commit
    - name: Checkout repository
      uses: actions/checkout@v4
      with:
        path: src/imu_tools
    - name: Use rosdep to install remaining dependencies
      run: |
        rosdep init
        rosdep update
        rosdep install --from-paths src -i -y --rosdistro ${{ matrix.rosdistro }}
    - name: Build
      run: |
        . /opt/ros/${{ matrix.rosdistro }}/setup.sh
        colcon build --parallel-workers 1
    - name: Run tests
      run: |
        . install/setup.sh
        colcon test --parallel-workers 1
        colcon test-result
    - name: Run pre-commit hooks
      run: |
        cd src/imu_tools
        pre-commit run -a