main.yml

name: foxy

on:
  push:
    branches:
      - foxy
  pull_request:
    branches:
      - foxy

jobs:
    job1:
        name: Build
        runs-on: ubuntu-20.04
        steps:
            - name: ROS2 Install
              run: |
                  # Ref: https://index.ros.org/doc/ros2/Installation/Foxy/Linux-Install-Debians/
                  sudo locale-gen en_US en_US.UTF-8
                  sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
                  export LANG=en_US.UTF-8
                  sudo apt update && sudo apt install curl gnupg2 lsb-release
                  curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
                  sudo sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
                  sudo apt update
                  sudo apt install ros-foxy-desktop
                  source /opt/ros/foxy/setup.bash
            - uses: actions/checkout@v1
              with:
                submodules: true
            - name: Copy repository
              run: |
                  mkdir -p ~/ros2_ws/src/lidarslam_ros2
                  cp -rf . ~/ros2_ws/src/lidarslam_ros2
            - name: Install dependencies
              run: |
                  source /opt/ros/foxy/setup.bash
                  sudo apt install -y python3-rosdep2
                  rosdep update
                  cd ~/ros2_ws/src
                  rosdep install -r -y --from-paths . --ignore-src       
            - name: Build packages
              run: |
                  source /opt/ros/foxy/setup.bash
                  # Install colcon
                  # Ref: https://index.ros.org/doc/ros2/Tutorials/Colcon-Tutorial/
                  sudo apt install python3-colcon-common-extensions
                  cd ~/ros2_ws
                  colcon build
                  source ~/ros2_ws/install/setup.bash