build.yml

name: build

on:
  push:
    paths-ignore:
      - 'docs/**'
  workflow_dispatch:
  schedule:
    - cron: "0 1 * * 1"

jobs:
  build:
    runs-on: ubuntu-20.04
    env:
      ROS_CI_DESKTOP: "`lsb_release -cs`"  # e.g. [trusty|xenial|...]
      CI_SOURCE_PATH: $(pwd)
      WS_DEF_FILE: ${{ github.workspace }}/smb.repos
      HW_FILE: ${{ github.workspace }}/smb_hw.repos
      ROS_PARALLEL_JOBS: '-j8 -l6'
      ROS_DISTRO: noetic
      CATKIN_WS: /root/catkin_ws_test/
      LIBSPINNAKER_FILEID: 1r4LNuU9IhfRWavegSaLTFLIenTrmMpN1
      LIBSPINNAKER_FILENAME: spinnaker-2.7.0.128-Ubuntu20.04-amd64-pkg.tar.gz
    container:
          image: ethzrobotx/smb_docker:latest
    steps:
      - uses: actions/checkout@v3
      - name: Install Python and ROS 
        run: |
            sudo apt-get update
            sudo apt-get install -y python3-catkin-tools python3-pip python3-vcstool git software-properties-common wget
      - name: Create workspace
        run: |
            mkdir -p $CATKIN_WS/src
            cd $CATKIN_WS
            catkin config --init --extend /opt/ros/noetic -DCMAKE_BUILD_TYPE=Release
      - name: Install ROS packages with rosdep
        run: |
          rosdep update
          cd $CATKIN_WS/src
          vcs import --recursive --input $WS_DEF_FILE .
          vcs import --recursive --input $HW_FILE .
          rosdep install --from-paths . --ignore-src --os=ubuntu:focal -r -y
      - name: catkin build smb_opc
        run: |
          cd $CATKIN_WS
          catkin build smb_opc --no-status
      - name: catkin build smb_gazebo
        run: |
          cd $CATKIN_WS
          catkin build smb_gazebo --no-status
      - name: catkin build smb_slam
        run: |
          cd $CATKIN_WS
          catkin build smb_slam --no-status
      - name: catkin build smb_path_planner 
        run: |
          cd $CATKIN_WS
          catkin build smb_path_planner --no-status
      - name: catkin build gbplanner 
        run: |
          cd $CATKIN_WS
          catkin build gbplanner* pci_general --no-status
      - name: catkin build frontier_exploration 
        run: |
          cd $CATKIN_WS
          catkin build explore_lite slam_gmapping --no-status
      - name: Install librealsense and dependencies
        run: |
            # Realsense
            sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
            sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main"
            sudo apt update
            sudo apt install librealsense2-dev librealsense2-dkms librealsense2-utils -y
            sudo apt install ros-noetic-ddynamic-reconfigure -y
      - name: Install Robosense dependencies
        run: |
            # Robosense
            sudo apt-get install -y libyaml-cpp-dev libpcap-dev libprotobuf-dev protobuf-compiler git
      # - name: Install FLIR camera driver (libspinnaker)
      #   run: |
      #       # Spinnaker
      #       sudo apt update
      #       sudo apt install debconf-utils libusb-1.0-0 -y 
      #       wget --quiet --load-cookies /tmp/cookies.txt "https://drive.google.com/uc?export=download&confirm=$(wget --quiet --save-cookies /tmp/cookies.txt --keep-session-cookies --no-check-certificate 'https://drive.google.com/uc?export=download&id='"$LIBSPINNAKER_FILEID" -O- | sed -rn 's/.*confirm=([0-9A-Za-z_]+).*/\1\n/p')&id=$LIBSPINNAKER_FILEID" -O $LIBSPINNAKER_FILENAME && rm -rf /tmp/cookies.txt
      #       tar -xf $LIBSPINNAKER_FILENAME
      #       SPINNAKER_DIR=$(tar -xvf $LIBSPINNAKER_FILENAME | head -1)
      #       SPINNAKER_VERSION=${SPINNAKER_DIR#spinnaker-}
      #       SPINNAKER_VERSION="${SPINNAKER_VERSION%-amd64/}"_amd64
      #       rm $LIBSPINNAKER_FILENAME 
      #       cd $SPINNAKER_DIR
      #       echo libspinnaker libspinnaker/accepted-flir-eula boolean true | sudo debconf-set-selections
      #       sudo dpkg -i libgentl_${SPINNAKER_VERSION}.deb libspinnaker_${SPINNAKER_VERSION}.deb libspinnaker-dev_${SPINNAKER_VERSION}.deb libspinnaker-c_${SPINNAKER_VERSION}.deb libspinnaker-c-dev_${SPINNAKER_VERSION}.deb
      - name: catkin build smb 
        run: |
          cd $CATKIN_WS
          catkin build smb --no-status