build_test.yml

name: Full Install & Build Tests

on:
  push:
    branches:
      - main
  pull_request:
    branches: 
      - '**'
    types: [opened, synchronize, reopened]
  merge_group:
    branches:
      - main

jobs:
  build:
    runs-on: ubuntu-latest
    timeout-minutes: 180
    strategy:
      matrix:
        container:
          - "ros:jazzy"
    container: ${{ matrix.container }}

    steps:
      - name: Checkout repository
        uses: actions/checkout@v3

      - name: Cache APT packages
        uses: actions/cache@v3
        with:
          path: /var/cache/apt
          key: ${{ runner.os }}-apt-${{ hashFiles('dependencies.txt') }}
          restore-keys: |
            ${{ runner.os }}-apt-

      - name: Install Base Dependencies
        run: |
          sudo apt-get update && sudo apt-get upgrade -y
          sudo apt-get update && apt-get install -y --no-install-recommends \
          curl gnupg2 lsb-release software-properties-common \
          locales \
          git \
          x11-apps \
          mesa-utils \
          gettext-base 

      - name: Install Project Dependencies
        run: |
          envsubst < dependencies.txt | xargs sudo apt-get install -y --no-install-recommends

      - name: Initialize submodules
        run: |
          git config --global --add safe.directory $GITHUB_WORKSPACE
          git submodule update --init --recursive

      - name: Cache Build Artifacts
        uses: actions/cache@v3
        with:
          path: build/
          key: ${{ runner.os }}-build-${{ hashFiles('**/CMakeLists.txt') }}
          restore-keys: |
            ${{ runner.os }}-build-

      - name: Build All
        run: |
          export PARALLEL_JOBS=1
          make build-all