name: ros1

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]
        include:
        - os: ubuntu-20.04
          ros_distro: 'noetic'


    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-${{ matrix.ros_distro }}-rtabmap-ros python3-catkin-tools
        sudo apt-get -y remove ros-${{ matrix.ros_distro }}-rtabmap
        sudo pip3 uninstall empy --yes

    - name: Setup catkin workspace
      run: | 
        source /opt/ros/${{ matrix.ros_distro }}/setup.bash
        mkdir -p ${{github.workspace}}/catkin_ws/src
        cd ${{github.workspace}}/catkin_ws/src
        cd ..
        catkin config --init --cmake-args -DSETUPTOOLS_DEB_LAYOUT=OFF -DCMAKE_C_FLAGS="-Wformat -Werror=format-security" -DCMAKE_CXX_FLAGS="-Wformat -Werror=format-security"

    - uses: actions/checkout@v2
      with:
        repository: 'introlab/rtabmap'
        path: 'catkin_ws/src/rtabmap'

    - uses: actions/checkout@v2
      with:
        path: 'catkin_ws/src/rtabmap_ros'

    - name: caktkin build
      run: |
        source /opt/ros/${{ matrix.ros_distro }}/setup.bash
        cd ${{github.workspace}}/catkin_ws
        catkin build -p 1 -i --verbose