name: ROS 2 Workflow

on:
  push:
    branches: [ master ]
  pull_request:

jobs:
  build_1804:
    name: "ROS2 Ubuntu 18.04"
    runs-on: ubuntu-latest
    steps:
      - name: Code Checkout
        uses: actions/checkout@v2
      - name: Create Workspace and Docker Image
        run: |
          export REPO=$(basename $GITHUB_REPOSITORY) &&
          cd $GITHUB_WORKSPACE/.. && mkdir src/ &&
          mv $REPO/ src/ && mkdir $REPO/ && mv src/ $REPO/ && cd $REPO/ &&
          docker build -t openvins -f $GITHUB_WORKSPACE/src/$REPO/Dockerfile_ros2_18_04 .
      - name: Echo Enviroment
        run: |
          docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "echo $ROS_DISTRO && echo $ROS_VERSION"
      - name: Run Build in Docker
        run: |
          docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && colcon build"
      # THIS SEEMS TO FAIL WITH 245 ERROR, NOT SURE WHY!!!!!
      #- name: Run OpenVINS Simulation!
      #  run: |
      #    docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && source install/setup.bash && ros2 run ov_msckf run_simulation src/open_vins/config/rpng_sim/estimator_config.yaml"
  build_2004:
    name: "ROS2 Ubuntu 20.04"
    runs-on: ubuntu-latest
    steps:
      - name: Code Checkout
        uses: actions/checkout@v2
      - name: Create Workspace and Docker Image
        run: |
          export REPO=$(basename $GITHUB_REPOSITORY) &&
          cd $GITHUB_WORKSPACE/.. && mkdir src/ &&
          mv $REPO/ src/ && mkdir $REPO/ && mv src/ $REPO/ && cd $REPO/ &&
          docker build -t openvins -f $GITHUB_WORKSPACE/src/$REPO/Dockerfile_ros2_20_04 .
      - name: Echo Enviroment
        run: |
          docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "echo $ROS_DISTRO && echo $ROS_VERSION"
      - name: Run Build in Docker
        run: |
          docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && colcon build"
      - name: Run OpenVINS Simulation!
        run: |
          docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && source install/setup.bash && ros2 run ov_msckf run_simulation src/open_vins/config/rpng_sim/estimator_config.yaml"