name: CMake-ROS

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

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

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: Build on ros ${{ matrix.ros_distribution }} and ${{ matrix.os }}
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        ros_distribution: [ noetic, humble ]
        include:
        - ros_distribution: 'noetic'
          os: ubuntu-20.04
        - ros_distribution: 'humble'
          os: ubuntu-22.04

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

    - 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