name: CI

on:
  push:
  pull_request:
  workflow_dispatch:

permissions: read-all

jobs:
  build:
    name: "ROS2 ${{ matrix.ros }} (${{ matrix.os }})"

    runs-on: ${{ matrix.os }}
    continue-on-error: ${{ matrix.ros == 'rolling' }}
    env:
      ROS_DISTRO: ${{ matrix.ros }}

    strategy:
      fail-fast: false
      matrix:
        include:
          - {image: "ros:foxy-ros-core-focal", os: ubuntu-22.04, ros: foxy}
          - {image: "ros:humble-ros-core-jammy", os: ubuntu-22.04, ros: humble}
          - {image: "ros:jazzy-ros-core-noble", os: ubuntu-24.04, ros: jazzy}
          - {image: "ros:lyrical-ros-core-resolute", os: ubuntu-26.04, ros: lyrical}
          - {image: "ros:rolling-ros-core-resolute", os: ubuntu-26.04, ros: rolling}

    container:
      image: ${{ matrix.image }}

    steps:
      - uses: actions/checkout@v6

      - name: Install build tools
        shell: bash
        run: |
          set -euo pipefail
          apt-get update
          apt-get install --no-install-recommends --yes \
            build-essential \
            cmake \
            git \
            python3-colcon-common-extensions \
            python3-rosdep
          rosdep init || true
          rosdep update --rosdistro "${ROS_DISTRO}" --include-eol-distros

      - name: Install dependencies and build
        shell: bash
        run: |
          set -eo pipefail
          source "/opt/ros/${ROS_DISTRO}/setup.bash"
          rosdep install --from-paths . --ignore-src --rosdistro "${ROS_DISTRO}" -y
          colcon build --symlink-install --event-handlers console_direct+