build.yaml

# ROS build pipeline based on kr_mav_control build
# https://github.com/KumarRobotics/kr_mav_control/blob/master/.github/workflows/build.yml
name: build

on:
  push:
    branches: [main]
  workflow_dispatch:
  schedule:
    - cron: '0 0 * * 0'


jobs:
  build:
    strategy:
      matrix:
        ros_distro: [noetic]

    runs-on: ubuntu-latest
    container: osrf/ros:${{ matrix.ros_distro }}-desktop
    steps:
      - uses: actions/checkout@v2

      - name: Apt dependencies
        run: |
          apt-get update
          apt-get install -qy g++ libeigen3-dev git python3-catkin-tools
          rosdep update
          rosdep install --from-paths . --ignore-src -y -r --as-root apt:false

      - name: Setup catkin workspace
        run: |
          . /opt/ros/${{ matrix.ros_distro }}/setup.sh
          mkdir -p ${RUNNER_WORKSPACE}/catkin_ws/src
          cd ${RUNNER_WORKSPACE}/catkin_ws
          catkin init
          catkin build -j2 --no-status -DCMAKE_BUILD_TYPE=Release

      - name: Install glog
        run: |
          git clone --depth 1 --branch v0.6.0 https://github.com/google/glog.git
          cd glog
          cmake -S . -B build -G "Unix Makefiles" -DCMAKE_CXX_STANDARD=17
          cmake --build build
          sudo cmake --build build --target install

      - name: Install fmt
        run: |
          git clone --depth 1 --branch 8.1.0 https://github.com/fmtlib/fmt.git
          cd fmt
          cmake -DCMAKE_POSITION_INDEPENDENT_CODE=TRUE -DCMAKE_CXX_STANDARD=17 -DFMT_TEST=False
          sudo make install

      - name: Install Abseil
        run: |
          git clone --depth 1 --branch 20220623.0 https://github.com/abseil/abseil-cpp.git
          cd abseil-cpp
          mkdir build && cd build
          cmake -DABSL_BUILD_TESTING=OFF -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_POSITION_INDEPENDENT_CODE=ON ..
          sudo cmake --build . --target install

      - name: Install Sophus
        run: |
          git clone https://github.com/strasdat/Sophus.git
          cd Sophus
          mkdir build && cd build
          git checkout 785fef3
          cmake -DBUILD_SOPHUS_TESTS=OFF -DBUILD_SOPHUS_EXAMPLES=OFF -DCMAKE_CXX_STANDARD=17 ..
          sudo make install

      - name: Install Google benchmark
        run: |
          git clone --depth 1 --branch v1.6.2 https://github.com/google/benchmark.git
          cd benchmark
          cmake -E make_directory "build"
          cmake -E chdir "build" cmake -DBENCHMARK_DOWNLOAD_DEPENDENCIES=on -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_STANDARD=17 -DBENCHMARK_ENABLE_GTEST_TESTS=OFF ../
          sudo cmake --build "build" --config Release --target install

      - name: Build workspace
        run: |
          . /opt/ros/${{ matrix.ros_distro }}/setup.sh
          cd ${RUNNER_WORKSPACE}/catkin_ws/src
          ln -s ${GITHUB_WORKSPACE}
          catkin build -j2 --no-status -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_STANDARD=17