ci-ros2.yml

name: Build & Test
on:
  push:
    branches: [ jazzy ]
  pull_request:
    branches: [ jazzy ]

jobs:
  Linting:
    name: Lint Code Base
    runs-on: ubuntu-latest
    steps:
      - name: Checkout Code
        uses: actions/checkout@v4
        with:
          fetch-depth: 0
      - name: Setup
        run: |
          sudo apt-get update && sudo apt-get install -y clang-format cppcheck libxml2-utils
      - name: Lint C++
        run: |
          clang-format -Werror -n -style=file $(find . -name '*.cpp' -o -name '*.hpp' -o -name '*.h' -o -name '*.c' -o -name '*.cc')
      - name: Check C++
        run: |
          cppcheck --force --quiet --error-exitcode=1 .
      - name: Lint package.xml
        run: |
          xmllint --noout --schema http://download.ros.org/schema/package_format3.xsd $(find . -name 'package.xml')

  build-and-test:
    needs: Linting
    runs-on: ubuntu-latest
    strategy:
      matrix:
        ros_distro: [humble, jazzy]
    container:
      image: ros:${{matrix.ros_distro}}-ros-base
    steps:
      - uses: ros-tooling/setup-ros@v0.7
        with:
          required-ros-distributions: ${{ matrix.ros_distro }}
      - uses: ros-tooling/action-ros-ci@v0.3
        with:
          target-ros2-distro: ${{ matrix.ros_distro }}
          colcon-defaults: | # Use asan to find memory issues
            {
              "build": {
                "mixin": ["asan-gcc"]
              }
            }