ci-build.yaml

name: Build ROS2 Project

on: [pull_request]

jobs:
  build:
    runs-on: ubuntu-22.04

    steps:
      - name: Checkout Repository
        uses: actions/checkout@v4

      - name: Install ROS 2 Humble
        run: |
          sudo apt update
          sudo apt install -y curl gnupg lsb-release

          # Add the ROS 2 GPG key
          sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

          # Add the ROS 2 repository
          echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

          sudo apt update

          # Install ROS 2 Humble desktop version
          sudo apt install -y ros-humble-desktop

      - name: Install Build Tools and Dependencies
        run: |
          sudo apt install -y python3-colcon-common-extensions python3-rosdep

          # Initialize rosdep
          sudo rosdep init
          rosdep update

      - name: Set up ROS 2 Workspace
        run: |
          mkdir -p ~/ros2_ws/src
          cd ~/ros2_ws/src

          # Copy the repository code to the workspace src folder
          cp -r $GITHUB_WORKSPACE/* .

          # Clone vortex-msgs repository
          git clone https://github.com/vortexntnu/vortex-msgs.git

          # Go back to workspace root
          cd ~/ros2_ws

      - name: Install Package Dependencies with rosdep
        run: |
          source /opt/ros/humble/setup.bash
          cd ~/ros2_ws
          rosdep install --from-paths src --ignore-src -r -y

      - name: Build ROS 2 Workspace
        run: |
          source /opt/ros/humble/setup.bash
          cd ~/ros2_ws
          colcon build --event-handlers console_cohesion+

      - name: Confirm Build Success
        run: |
          echo "Build completed successfully."