name: ros2

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

env:
  BUILD_TYPE: Release

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

jobs:
  build:
    name: Build ros2 ${{ matrix.ros_distro }}
    runs-on: ubuntu-latest
    strategy:
      matrix:
        ros_distro: [humble, jazzy, kilted, lyrical, rolling]
        include:
        - ros_distro: humble
          skip_keys: ''
          packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_sync rtabmap_util rtabmap_python'
        - ros_distro: jazzy
          skip_keys: ''
          packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_sync rtabmap_util rtabmap_python'
        - ros_distro: kilted
          skip_keys: 'grid_map_ros'
          packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_sync rtabmap_util rtabmap_python'
        - ros_distro: lyrical
          skip_keys: 'velodyne grid_map_ros libpointmatcher'
          packages: 'rtabmap_ros rtabmap_conversions rtabmap_odom rtabmap_sync rtabmap_util rtabmap_python'
        - ros_distro: rolling
          # Rolling has moved to Ubuntu resolute and much of it has not been rebuilt for
          # that yet, so rosdep finds nothing to install for these. They are all optional
          # to rtabmap, which just builds without them.
          skip_keys: 'velodyne libpointmatcher gtsam grid_map_ros'
          use_ros2_testing: true # Rolling is using ros2-testing (nightly)
          # nav2 is missing from resolute too, and it is not optional: rtabmap_slam and
          # rtabmap_costmap_plugins need it to compile at all, and the rtabmap_ros
          # metapackage pulls both in. So rolling names the packages it can build.
          packages: 'rtabmap_conversions rtabmap_odom rtabmap_sync rtabmap_util rtabmap_python'
      fail-fast: false
    container:
      image: osrf/ros:${{ matrix.ros_distro }}-desktop-full
    steps:   
    - uses: actions/checkout@v4
    - uses: ros-tooling/setup-ros@v0.7
      with:
        required-ros-distributions: ${{ matrix.ros_distro }}
        use-ros2-testing: ${{ matrix.use_ros2_testing || false }}
    - run: |
        DEBIAN_FRONTEND=noninteractive
        sudo apt update
        sudo apt upgrade -y
    - run: |
        echo "repositories:\n  introlab/rtabmap:\n    type: git\n    url: https://github.com/introlab/rtabmap.git\n    version: master\n" > /tmp/deps.repos &&\
        cat /tmp/deps.repos
    - uses: ros-tooling/action-ros-ci@v0.4
      with:
        package-name: ${{ matrix.packages }}
        target-ros2-distro: ${{ matrix.ros_distro }}
        vcs-repo-file-url: /tmp/deps.repos
        rosdep-skip-keys: "${{ matrix.skip_keys }}"