continuous_integration.yaml

name: continuous_integration

on:
  push:
  schedule:
    # build every night at 0:00
    - cron: "0 0 * * *"

jobs:
  build:
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        os: [ubuntu-18.04, ubuntu-20.04]
        compiler:
          [
            "-DCMAKE_C_COMPILER=gcc -DCMAKE_CXX_COMPILER=g++",
            "-DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++",
          ]
        build-tool: ["catkin_tools", "catkin"]
    steps:
      - name: "determine_ros_version"
        id: determine_ros_version
        run:
          if ${{ contains(matrix.os, '18.04') }} ; then
          echo "melodic" ;
          echo "::set-output name=ros_version::melodic" ;
          elif ${{ contains(matrix.os, '20.04') }} ; then
          echo "noetic" ;
          echo "::set-output name=ros_version::noetic" ;
          else
          echo "::set-output name=ros_version::undefined" ;
          echo "::error::Unsupported Ubuntu / ROS version" ;
          fi
      - uses: actions/checkout@v1
        with:
          path: ws/src/gerona
      - name: clone_dependencies
        run: |
          cd ..
          git clone https://github.com/cogsys-tuebingen/cslibs_path_planning
          git clone https://github.com/cogsys-tuebingen/cslibs_navigation_utilities
          git clone https://github.com/sbpl/sbpl
      - name: upgrade_compiler
        if: ${{ contains(matrix.os, '18.04') && contains(matrix.compiler, 'clang') }}
        run: |
          wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key | sudo apt-key add -
          sudo apt-add-repository -y 'deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic main'
          sudo apt-get update -y
          apt list | grep clang
          sudo apt-get install -y clang-14
          sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/bin/clang++-14 50
          sudo update-alternatives --install /usr/bin/clang clang /usr/bin/clang-14 50
      - uses: betwo/github-setup-catkin@master
        with:
          ros-version: ${{ steps.determine_ros_version.outputs.ros_version }}
          build-tool: ${{ matrix.build-tool }}
          workspace: $HOME/work/gerona/ws
      - name: build_catkin
        if: ${{ matrix.build-tool == 'catkin' }}
        run: |
          cd $HOME/work/gerona/ws
          catkin_make_isolated ${{ matrix.compiler }}
      - name: build_catkin_tools
        if: ${{ matrix.build-tool == 'catkin_tools' }}
        run: |
          cd $HOME/work/gerona/ws
          catkin build --no-status --no-notify --summarize --continue-on-failure --cmake-args ${{ matrix.compiler }}

  ##################
  # PUBLISH DOCKER #
  ##################

  publish-docker:
    needs: build
    runs-on: ${{ matrix.os }}
    if: ${{ github.ref == 'refs/heads/master' }}
    strategy:
      fail-fast: false
      matrix:
        os: [ubuntu-18.04, ubuntu-20.04]
    steps:
      - uses: actions/checkout@v2
        with:
          path: src/gerona
      - uses: actions/checkout@v2
        with:
          repository: cogsys-tuebingen/cslibs_path_planning
          path: src/cslibs_path_planning
      - uses: actions/checkout@v2
        with:
          repository: cogsys-tuebingen/cslibs_navigation_utilities
          path: src/cslibs_navigation_utilities
      - uses: actions/checkout@v2
        with:
          repository: sbpl/sbpl
          path: src/sbpl
      - name: Publish to Registry
        uses: elgohr/Publish-Docker-Github-Action@master
        with:
          name: cogsys-tuebingen/gerona/gerona_melodic
          username: ${{ secrets.DOCKER_USERNAME }}
          password: ${{ secrets.GITHUB_TOKEN }}
          registry: docker.pkg.github.com
          dockerfile: src/gerona/docker/melodic-perception.docker