simple.yaml

name: Simple Build
on:
  push:
    # Will trigger on MERGES (or pushes) to main branch.
    branches:
    - 'main'
  pull_request:
    # Will ALSO trigger any time a PR is opened merging to main.
    # Specify '*' here to merge on PRs being opened against ANY branch.
    branches:
    - 'main'

jobs:
  # The name of the job is "build". All jobs run in SEPARATE containers, so
  # they may run on separate machines and have the workspace wiped inbetween.
  build:
    # Run on a github-hosted runner. To specify our own, select:
    # [self-hosted, linux] instead.
    runs-on: ubuntu-latest
    # This is the docker container that the image will run in. This is 20.04
    # with ros-noetic-desktop meta-package.
    container: osrf/ros:noetic-desktop
    steps:
    # Name is optional, uses: specify which ACTION is used (basically github
    # macros). You can write your own! Use with: to specify extra parameters.
    - name: Check out repository
      uses: actions/checkout@v3
      with:
        # This path is relative to ${GITHUB_WORKSPACE}. You can also use
        # "/${HOME}/" if you want but be sure to have the leading slash.
        path: catkin_ws/src/toy_example_package
    - name: Install catkin-tools on Noetic
      # This, well, makes sure you have catkin tools installed.
      run: |
        apt update && apt install -y python3-pip
        pip3 install osrf-pycommon
        apt update && apt install -y python3-wstool python3-catkin-tools
      shell: bash
    - name: Install dependencies
      # Replace this with your actual deps. But cowsay is fun.
      run: |
        apt update && apt install -y fortune cowsay
      shell: bash
    - name: Setup workspace & install ROS dependencies
      run: |
        cd ${GITHUB_WORKSPACE}/catkin_ws
        catkin init
        catkin config --extend "/opt/ros/noetic"
        catkin config --merge-devel
        rosdep update
        rosdep install --from-paths src --ignore-src -y --rosdistro noetic
        catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
      shell: bash
    - name: Catkin build
      # The working directory is reset for each individual run command, so just
      # be aware!
      run: |
        cd ${GITHUB_WORKSPACE}/catkin_ws
        catkin build --continue toy_example_package
      shell: bash
    - name: Get a fortune from a cow
      # Replace this with a testing script or anything else you need to do.
      run: /usr/games/fortune | /usr/games/cowsay
      shell: bash