implemented abstraction to planner interface code #104

	name: test

	on: [push, pull_request]

	env:
	ROS_VERSION: melodic
	jobs:
	build-and-test:
	runs-on: ubuntu-latest
	container: ros:melodic
	steps:
	- name: Prepare docker
	run: \|
	# Install newer git from ppa to prevent https://github.com/actions/checkout/issues/126
	APT_KEY_DONT_WARN_ON_DANGEROUS_USAGE=true apt-key adv --keyserver keyserver.ubuntu.com --recv-key E1DD270288B4E6030699E45FA1715D88E1DF1F24 2>&1
	echo "deb http://ppa.launchpad.net/git-core/ppa/ubuntu bionic main" \| tee /etc/apt/sources.list.d/git.list
	sudo apt update -qq
	sudo apt install python-catkin-tools git -y -qq
	- name: Create ROS workspace
	run: \|
	source /opt/ros/$ROS_VERSION/setup.bash
	mkdir src
	catkin init
	catkin build --summarize --no-status
	shell: bash
	- name: "Checkout source"
	uses: actions/checkout@v2
	with:
	path: src/rosplan
	- name: Checkout submodules
	shell: bash
	run: \|
	cd src/rosplan
	auth_header="$(git config --local --get http.https://github.com/.extraheader)"
	git submodule sync --recursive
	git -c "http.extraheader=$auth_header" -c protocol.version=2 submodule update --init --force --recursive --depth=1
	- name: Install dependencies
	run: \|
	source devel/setup.bash
	rosdep update
	rosdep install --from-paths src/rosplan --ignore-src -q -r -y
	shell: bash
	- name: Build workspace
	run: \|
	export JAVA_HOME=/usr/lib/jvm/default-java
	catkin build --summarize --no-status -DROSPLAN_COMPILE_CHIMP=TRUE
	- name: Run tests
	run: \|
	source /opt/ros/$ROS_VERSION/setup.bash
	catkin run_tests --no-status
	catkin_test_results --verbose
	shell: bash

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