ros-build.yml

name: ROS Build

on:
  push:
    branches: [ main ]
  pull_request:
    branches: [ main ]
    types: [ opened, synchronize, reopened ]

jobs:    
  build:
    runs-on: ${{ matrix.os }}
    strategy:
      matrix:
        include:
          - os: ubuntu-18.04
            rosdistro: melodic
            pythonprefix: python
          - os: ubuntu-20.04
            rosdistro: noetic
            pythonprefix: python3
    env:
      ROS_CI_DESKTOP: "`lsb_release -cs`"  # e.g. [trusty|xenial|...]
      ROSINSTALL_FILE: $GITHUB_WORKSPACE/dependencies.rosinstall
      CATKIN_OPTIONS: $GITHUB_WORKSPACE/catkin.options
      ROS_PARALLEL_JOBS: '-j8 -l6'
      ROS_DISTRO: ${{ matrix.rosdistro }}
      PYTHON_PREFIX: ${{ matrix.pythonprefix }}
    steps:
      - uses: actions/checkout@v2
      - name: Install ROS
        run: |
            sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
            sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
            sudo apt-get update -qq
            sudo apt-get install dpkg
            sudo apt-get install -y $PYTHON_PREFIX-catkin-tools $PYTHON_PREFIX-catkin-pkg $PYTHON_PREFIX-rosdep $PYTHON_PREFIX-wstool ros-$ROS_DISTRO-cv-bridge ros-$ROS_DISTRO-image-transport ros-$ROS_DISTRO-roslint
            sudo apt-get install -y ros-$ROS_DISTRO-nodelet-core ros-$ROS_DISTRO-ddynamic-reconfigure frei0r-plugins-dev
            source /opt/ros/$ROS_DISTRO/setup.bash
            # Prepare rosdep to install dependencies.
            sudo rosdep init
            rosdep update --include-eol-distros  # Support EOL distros.
      - name: Install I3DRSGM
        run: |
            wget https://bugs.launchpad.net/~ubuntu-security-proposed/+archive/ubuntu/ppa/+build/18845128/+files/libicu55_55.1-7ubuntu0.5_amd64.deb
            wget http://security.ubuntu.com/ubuntu/pool/universe/x/xerces-c/libxerces-c3.1_3.1.3+debian-1_amd64.deb
            wget https://launchpad.net/~ubuntu-security/+archive/ubuntu/ppa/+build/15108504/+files/libpng12-0_1.2.54-1ubuntu1.1_amd64.deb
            wget https://github.com/i3drobotics/phobosIntegration/releases/download/v1.0.54/Phobos-1.0.54-x86_64_reducedTemplates.deb
            sudo dpkg -i libicu55_55.1-7ubuntu0.5_amd64.deb
            sudo dpkg -i libxerces-c3.1_3.1.3+debian-1_amd64.deb
            sudo dpkg -i libpng12-0_1.2.54-1ubuntu1.1_amd64.deb
            sudo dpkg -i Phobos-1.0.54-x86_64_reducedTemplates.deb
      - name: Setup ROS workspace
        run: |
          source /opt/ros/$ROS_DISTRO/setup.bash
          mkdir -p ~/catkin_ws/src
          cd ~/catkin_ws
          catkin build
          wstool init src $GITHUB_WORKSPACE/install/i3dr_stereo_camera_https.rosinstall
          rosdep install --from-paths src --ignore-src -r -y
      - name: Build workspace
        run: |
          source /opt/ros/$ROS_DISTRO/setup.bash
          cd ~/catkin_ws
          catkin build