config.yml

on: [push, pull_request]

jobs:
  build:
    strategy:
      fail-fast: false
      matrix:
        include:
          - OS: ubuntu:18.04
            ROS_DISTRO: melodic
          - OS: ubuntu:20.04
            ROS_DISTRO: noetic

    runs-on: ubuntu-latest
    container:
      image: ${{ matrix.OS }}
      volumes:
        - /tmp/node20:/__e/node20
    steps:
      - name: Try to replace `node` with an glibc 2.17
        shell: bash
        run: |
          ls -lar /__e/node20 &&
          apt update -y && apt install -y curl &&
          curl -Lo /tmp/node.tar.gz https://unofficial-builds.nodejs.org/download/release/v20.17.0/node-v20.17.0-linux-x64-glibc-217.tar.gz &&
          cd /__e/node20 &&
          tar -x --strip-components=1 -f /tmp/node.tar.gz &&
          ls -lar /__e/node20/bin/
      - name: Checkout
        uses: actions/checkout@v4
      - name: Setup ROS
        run: |
            apt update -y
            apt install -y curl gnupg lsb-release
            apt install -y xvfb
            echo "deb http://packages.ros.org/ros/ubuntu  $(lsb_release -sc) main" | tee /etc/apt/sources.list.d/ros-latest.list
            curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
            #
            apt update -y
            apt install -y python-catkin-tools python-rosdep || apt install -y python3-catkin-tools python3-rosdep
            apt install -y ros-${{ matrix.ROS_DISTRO }}-catkin
            rosdep init
            rosdep update --include-eol-distros
            rosdep install --from-path $GITHUB_WORKSPACE --ignore-src --rosdistro ${{ matrix.ROS_DISTRO }} -r -y
      - name: Run catkin build
        shell: bash
        run: |
            source /opt/ros/${{ matrix.ROS_DISTRO }}/setup.bash
            mkdir -p ~/ws/src/
            cp -r $GITHUB_WORKSPACE ~/ws/src/
            cd ~/ws/; catkin build -vis --no-status
      - name: Run catkin run_test
        shell: bash
        run: |
          source /opt/ros/${{ matrix.ROS_DISTRO }}/setup.bash
          cd ~/ws/; xvfb-run --auto-servernum catkin run_tests
      - name: Run catkin test results
        shell: bash
        run: |
          source /opt/ros/${{ matrix.ROS_DISTRO }}/setup.bash
          cd ~/ws/; catkin_test_results --all build

  check_python2:
    runs-on: ubuntu-latest
    container:
      image: ubuntu:20.04
      volumes:
        - /tmp/node20:/__e/node20
    name: check_python2

    steps:
      - name: Try to replace `node` with an glibc 2.17
        shell: bash
        run: |
          ls -lar /__e/node20 &&
          apt update -y && apt install -y curl &&
          curl -Lo /tmp/node.tar.gz https://unofficial-builds.nodejs.org/download/release/v20.17.0/node-v20.17.0-linux-x64-glibc-217.tar.gz &&
          cd /__e/node20 &&
          tar -x --strip-components=1 -f /tmp/node.tar.gz &&
          ls -lar /__e/node20/bin/
      - name: Set up a Git safe directory
        run: |
          apt update -q && apt install -y -q git
          git config --global --add safe.directory "${GITHUB_WORKSPACE}"
      - name: Chcekout
        uses: actions/checkout@v4
      - name: Check Python2
        run: |
          apt update -q && apt install -y -q python2
          python2 -m compileall .

  check_python3:
    runs-on: ubuntu-latest
    container:
      image: ubuntu:20.04
      volumes:
        - /tmp/node20:/__e/node20
    name: check_python3

    steps:
      - name: Try to replace `node` with an glibc 2.17
        shell: bash
        run: |
          ls -lar /__e/node20 &&
          apt update -y && apt install -y curl &&
          curl -Lo /tmp/node.tar.gz https://unofficial-builds.nodejs.org/download/release/v20.17.0/node-v20.17.0-linux-x64-glibc-217.tar.gz &&
          cd /__e/node20 &&
          tar -x --strip-components=1 -f /tmp/node.tar.gz &&
          ls -lar /__e/node20/bin/
      - name: Set up a Git safe directory
        run: |
          apt update -q && apt install -y -q git
          git config --global --add safe.directory "${GITHUB_WORKSPACE}"
      - name: Chcekout
        uses: actions/checkout@v4
      - name: Check Python3
        run: |
          apt update -q && apt install -y -q python3 git 2to3
          bash -c "ret=0; trap 'ret=1' ERR; python3 -m compileall .; 2to3 -w -f except -f execfile -f has_key -f import -f raw_input -f zip .; git diff --exit-code . > /dev/null; echo Exitting with \$ret; exit \$ret"