name: CMake-ROS

on:
  push:
    branches: 
      - master
  pull_request:
    branches: 
      - '**'

env:
  # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
  BUILD_TYPE: Release

concurrency:
  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
  cancel-in-progress: ${{ github.event_name == 'pull_request' }}

jobs:
  build:
    # The CMake configure and build commands are platform agnostic and should work equally
    # well on Windows or Mac.  You can convert this to a matrix build if you need
    # cross-platform coverage.
    # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
    name: ${{ matrix.ros_distribution }}-${{ matrix.os }}
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        ros_distribution: [ humble, jazzy, kilted, lyrical, rolling ]
        include:
        - ros_distribution: 'humble'
          os: ubuntu-22.04
        - ros_distribution: 'jazzy'
          os: ubuntu-24.04
        - ros_distribution: 'kilted'
          os: ubuntu-24.04
        - ros_distribution: 'lyrical'
          os: ubuntu-26.04
        - ros_distribution: 'rolling'
          os: ubuntu-26.04

    steps:   
    - name: Setup ROS2
      # https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html
      run: |
        sudo apt install software-properties-common
        sudo add-apt-repository universe
        sudo apt update && sudo apt install curl -y
        export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}')
        curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb"
        sudo apt install /tmp/ros2-apt-source.deb
        sudo apt update

    - uses: ros-tooling/setup-ros@v0.7
      with:
        required-ros-distributions: ${{ matrix.ros_distribution }}
    
    - uses: actions/checkout@v4

    - name: Point rosdep to latest Rolling on Noble until github runners support ubuntu 26.04
      if: matrix.ros_distribution == 'rolling'
      run: |
        echo "ROSDISTRO_INDEX_URL=https://raw.githubusercontent.com/ros/rosdistro/6527fa694360d609c1491528ed50437bd853af5b/index-v4.yaml" >> $GITHUB_ENV

    - name: Install dependencies
      run: |
        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
        rosdep update
        rosdep install --from-paths ${{github.workspace}} -y

    - name: Configure CMake
      run: |
        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}

    - name: Build
      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}

    - name: Info
      working-directory: ${{github.workspace}}/build/bin
      run: |
        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
        ./rtabmap-console --version