name: ROS CI

on: [push]

jobs:
  build:
    runs-on: ubuntu-18.04
    env:
      ROS_CI_DESKTOP: "`lsb_release -cs`"  # e.g. [trusty|xenial|...]
      CI_SOURCE_PATH: $(pwd)
      ROSINSTALL_FILE: $CI_SOURCE_PATH/dependencies.rosinstall
      CATKIN_OPTIONS: $CI_SOURCE_PATH/catkin.options
      ROS_PARALLEL_JOBS: '-j8 -l6'
      # Set the python path manually to include /usr/-/python2.7/dist-packages
      # as this is where apt-get installs python packages.
      PYTHONPATH: $PYTHONPATH:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages
      ROS_DISTRO: melodic
    steps:
      - uses: actions/checkout@v1
      - name: Install ROS
        run: |
            sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
            sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
            sudo apt-get update -qq
            sudo apt-get install dpkg
            sudo apt-get install -y python-catkin-tools python-catkin-pkg
            sudo apt-get install -y python-rosdep python-wstool
            sudo apt-get install -y libboost-dev
            sudo apt-get install -y libyaml-cpp-dev
            sudo apt-get install -y qt5-default
            sudo apt-get install -y ros-cmake-modules
            # sudo apt-get install -y ros-$ROS_DISTRO-camera-info-manager
            # sudo apt-get install -y ros-$ROS_DISTRO-cv-bridge
            # sudo apt-get install -y ros-$ROS_DISTRO-dynamic-reconfigure
            # sudo apt-get install -y ros-$ROS_DISTRO-ddynamic-reconfigure
            sudo apt-get install -y ros-$ROS_DISTRO-image-transport
            # sudo apt-get install -y ros-$ROS_DISTRO-nodelet-core
            # sudo apt-get install -y ros-$ROS_DISTRO-pcl-conversions
            # sudo apt-get install -y ros-$ROS_DISTRO-pcl-ros
            sudo apt-get install -y ros-$ROS_DISTRO-pluginlib
            sudo apt-get install -y ros-$ROS_DISTRO-roscpp
            sudo apt-get install -y ros-$ROS_DISTRO-roslint
            sudo apt-get install -y ros-$ROS_DISTRO-rospy
            sudo apt-get install -y ros-$ROS_DISTRO-rostest
            sudo apt-get install -y ros-$ROS_DISTRO-rviz
            # sudo apt-get install -y ros-$ROS_DISTRO-shape-msgs
            sudo apt-get install -y ros-$ROS_DISTRO-sensor-msgs
            # sudo apt-get install -y ros-$ROS_DISTRO-tf2-geometry-msgs
            # sudo apt-get install -y ros-$ROS_DISTRO-tf2-msgs
            # sudo apt-get install -y ros-$ROS_DISTRO-tf2-py
            # sudo apt-get install -y ros-$ROS_DISTRO-tf2-ros
            # sudo apt-get install -y ros-$ROS_DISTRO-tf2-sensor-msgs
            # sudo apt-get install -y ros-$ROS_DISTRO-visualization-msgs
            source /opt/ros/$ROS_DISTRO/setup.bash
            # Prepare rosdep to install dependencies.
            sudo rosdep init
            rosdep update --include-eol-distros  # Support EOL distros.

      - name: build
        run: |
          source /opt/ros/$ROS_DISTRO/setup.bash
          mkdir -p ~/catkin_ws/src
          cd ~/catkin_ws
          catkin build
          source devel/setup.bash
          # echo "::warning $CI_SOURCE_PATH"
          # echo "::warning `ls -l`"
          cd src
          ln -s ~/work  # $CI_SOURCE_PATH
          cd ..
          catkin build
      - name: lint
        run: |
          cd ~/catkin_ws
          catkin build rviz_camera_stream --no-deps --catkin-make-args roslint