name: CMake

on:
  push:
    branches: [ master ]
  pull_request:
    branches: [ master ]

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_distro }} and ${{ matrix.os }}
    runs-on: ${{ matrix.os }}
    strategy:
      matrix:
        os: [ubuntu-20.04, ubuntu-18.04]
        include:
        - os: ubuntu-20.04
          ros_distro: 'noetic'
        - os: ubuntu-18.04
          ros_distro: 'melodic'

    steps:
    - uses: ros-tooling/setup-ros@v0.2
      with:
        required-ros-distributions: ${{ matrix.ros_distro }}
    
    - name: Install dependencies
      run: |
        sudo apt-get update
        sudo apt-get -y install ros-${{ matrix.ros_distro }}-rtabmap-ros
        sudo apt-get -y remove ros-${{ matrix.ros_distro }}-rtabmap

    - uses: actions/checkout@v2

    - name: Configure CMake
      # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
      # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
      run: |
        source /opt/ros/${{ matrix.ros_distro }}/setup.bash
        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}

    - name: Build
      # Build your program with the given configuration
      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}

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

#    - name: Test
#      working-directory: ${{github.workspace}}/build
#      # Execute tests defined by the CMake configuration.  
#      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
#      run: ctest -C ${{env.BUILD_TYPE}}