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Implement simple quadcopter control. #37

	name: ros2

	on:
	push:
	paths:
	- ".github/workflows/ros2.yml"
	- "include/**"
	- "launch/**"
	- "src/**"
	- "CMakeLists.txt"
	- "package.xml"
	pull_request:
	paths:
	- ".github/workflows/ros2.yml"
	- "include/**"
	- "launch/**"
	- "src/**"
	- "CMakeLists.txt"
	- "package.xml"

	env:
	BUILD_TYPE: Release

	jobs:
	build:
	name: Build on ros2 ${{ matrix.ros_distro }}
	runs-on: ubuntu-22.04
	strategy:
	matrix:
	ros_distro: [ humble ]

	steps:
	- name: Install gsl-lite
	run: \|
	git clone https://github.com/gsl-lite/gsl-lite && cd gsl-lite
	mkdir build && cd build
	cmake .. && make -j8
	sudo make install

	- name: Install Catch2
	run: \|
	git clone https://github.com/catchorg/Catch2 && cd Catch2
	mkdir build && cd build
	cmake .. && make -j8
	sudo make install

	- name: Install fmt
	run: \|
	git clone https://github.com/fmtlib/fmt && cd fmt
	mkdir build && cd build
	cmake -DFMT_TEST=OFF ..
	make -j8
	sudo make install

	- uses: ros-tooling/[email protected]
	with:
	required-ros-distributions: ${{ matrix.ros_distro }}

	- name: Setup ros2 workspace
	run: \|
	source /opt/ros/${{ matrix.ros_distro }}/setup.bash
	mkdir -p ${{github.workspace}}/ros2_ws/src
	cd ${{github.workspace}}/ros2_ws
	colcon build

	- uses: actions/checkout@v4
	with:
	path: 'ros2_ws/src/viper'
	submodules: true
	fetch-depth: 1

	- name: colcon build
	run: \|
	source /opt/ros/${{ matrix.ros_distro }}/setup.bash
	cd ${{github.workspace}}/ros2_ws
	colcon build --event-handlers console_direct+

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