name: ros2

on:
  push:
    branches: [ ros2 ]
  pull_request:
    branches: [ ros2 ]

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 ros2 ${{ matrix.ros_distro }} and ${{ matrix.os }}
    runs-on: ${{ matrix.os }}
    strategy:
      matrix:
        ros_distro: [humble, iron]
        include:
        - ros_distro: 'humble'
          os: ubuntu-22.04
        - ros_distro: 'iron'
          os: ubuntu-22.04

    steps:   
    - uses: ros-tooling/setup-ros@v0.6
      with:
        required-ros-distributions: ${{ matrix.ros_distro }}
                   
    - name: Setup ros2 workspace
      run: | 
        source /opt/ros/${{ matrix.ros_distro }}/setup.bash
        mkdir -p ${{github.workspace}}/ros2_ws/src
        cd ${{github.workspace}}/ros2_ws
        colcon build
        
    - uses: actions/checkout@v2
      with:
        repository: 'introlab/rtabmap'
        path: 'ros2_ws/src/rtabmap'
        
    - uses: actions/checkout@v2
      with:
        path: 'ros2_ws/src/rtabmap_ros'
        
    - name: colcon build
      run: |
        source /opt/ros/${{ matrix.ros_distro }}/setup.bash
        cd ${{github.workspace}}/ros2_ws
        rosdep update
        rosdep install --from-paths src --ignore-src -r -y -t build_export -t test -t build -t buildtool_export -t buildtool
        colcon build --event-handlers console_direct+