name: ROS CI

on: [push]

jobs:
  build:
    runs-on: ubuntu-20.04
    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: noetic
    steps:
      - name: git clone git@github.com:lucasw/rviz_camera_stream
        uses: actions/checkout@v2
        with:
          path: catkin_ws/src/rviz_camera_stream

      - name: Install ROS
        run: |
            sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
            sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
            sudo apt-get update -qq
            sudo apt-get install dpkg
            sudo apt-get install -y catkin-lint
            sudo apt-get install -y python3-catkin-pkg
            sudo apt-get install -y python3-catkin-tools
            sudo apt-get install -y python3-osrf-pycommon
            sudo apt-get install -y python3-rosdep
            sudo apt-get install -y python3-wstool
            sudo apt-get install -y libboost-dev
            sudo apt-get install -y libyaml-cpp-dev
            sudo apt-get install -y qt5-default
            sudo apt-get install -y ros-cmake-modules
            sudo apt-get install -y ros-$ROS_DISTRO-ros-base
            source /opt/ros/$ROS_DISTRO/setup.bash
            # Prepare rosdep to install dependencies.
            sudo rosdep init
            rosdep update --include-eol-distros  # Support EOL distros.

      - name: rosdep install additional ros dependencies
        run: |
            source /opt/ros/$ROS_DISTRO/setup.bash
            cd catkin_ws
            rosdep install --from-paths src --ignore-src -r -s  # do a dry-run first
            rosdep install --from-paths src --ignore-src -r -y

      - name: build
        run: |
          source /opt/ros/$ROS_DISTRO/setup.bash
          cd catkin_ws
          catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release -Wno-deprecated
          catkin build --no-status
          source devel/setup.bash

      - name: lint
        run: |
          cd catkin_ws
          source devel/setup.bash
          catkin build rviz_camera_stream --no-status --no-deps --catkin-make-args roslint
          catkin_lint --pkg rviz_camera_stream -W2 --error unsorted_list --ignore uninstalled_script --error launch_depend --error description_meaningless

      - name: build install version
        run: |
          source /opt/ros/$ROS_DISTRO/setup.bash
          cd catkin_ws
          rm -rf build devel logs
          catkin config --install --cmake-args -DCMAKE_BUILD_TYPE=Release -Wno-deprecated
          catkin build --no-status
          source install/setup.bash