main.yml

# This is a basic workflow to help you get started with Actions

name: CI

# Controls when the workflow will run
on:
  # Triggers the workflow on push or pull request events but only for the main branch
  push:
    branches: [ main ]
  pull_request:
    branches: [ main ]

  # Allows you to run this workflow manually from the Actions tab
  workflow_dispatch:
jobs:
  test_docker: # On Linux, iterates on all ROS 1 and ROS 2 distributions.
    runs-on: ubuntu-latest
    strategy:
      matrix:
        ros_distribution:
          - melodic
          - noetic
        include:
          # Melodic Morenia (May 2018 - May 2023)
          - docker_image: ros:melodic-perception-bionic
            ros_distribution: melodic
            ros_version: 1

          # Noetic Ninjemys (May 2020 - May 2025)
          - docker_image: ros:noetic-perception-focal
            ros_distribution: noetic
            ros_version: 1

    container:
      image: ${{ matrix.docker_image }}
    steps:
      - name: install Melodic additional prereq
        if: ${{ matrix.ros_distribution == 'melodic' }}
        run: |
          echo Setup melodic additional build requirements
          DEBIAN_FRONTEND=noninteractive apt-get update && apt-get install python3-pip --no-install-recommends -y
          pip3 install setuptools

      - name: install prereq tools
        if: ${{ matrix.ros_version == 1 }}
        run: |
          echo Setup build requirements
          DEBIAN_FRONTEND=noninteractive apt-get update && apt-get install sudo python3-pip lcov git --no-install-recommends -y
          pip3 install colcon-common-extensions
          pip3 install colcon-lcov-result
          pip3 install colcon-coveragepy-result
          pip3 install colcon-mixin
          pip3 install vcstool

      - name: build and test ROS 1
        if: ${{ matrix.ros_version == 1 }}
        uses: ros-tooling/action-ros-ci@v0.2
        env:
          DEBIAN_FRONTEND: noninteractive
        with:
          package-name: ld06_lidar
          target-ros1-distro: ${{ matrix.ros_distribution }}
      - name: build and test ROS 2
        if: ${{ matrix.ros_version == 2 }}
        uses: ros-tooling/action-ros-ci@v0.2
        env:
          DEBIAN_FRONTEND: noninteractive
        with:
          package-name: ld06_lidar
          target-ros2-distro: ${{ matrix.ros_distribution }}
      - name: asan
        uses: ros-tooling/action-ros-ci@v0.2
        with:
          colcon-defaults: |
            {
              "build": {
                "mixin": ["asan-gcc"]
              }
            }
          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/3e627e0fa30db85aea05a50e2c61a9832664d236/index.yaml
          package-name: ld06_lidar
          target-ros1-distro: ${{ matrix.ros_distribution }}
        env:
          DEBIAN_FRONTEND: noninteractive