CI without docker POC #215

	name: CI

	on:
	workflow_dispatch:
	inputs:
	name:
	description: "Manual trigger"
	pull_request:
	branches: ["rolling", "kilted", "jazzy", "humble"]

	jobs:

	micro_ros_zephyr_module:
	runs-on: ubuntu-latest
	env:
	CMAKE_PREFIX_PATH: /opt/toolchains
	strategy:
	fail-fast: false
	matrix:
	zephyr_version: ["v4.0.0", "v4.1.0"]
	steps:
	- uses: actions/checkout@v4
	with:
	path: micro_ros_zephyr_module

	- name: Install Zephyr build dependencies
	run: \|
	sudo apt -y update
	sudo apt -y install \
	git cmake ninja-build gperf ccache dfu-util \
	device-tree-compiler wget xz-utils file make gcc g++ \
	python3-pip python3-venv python3-dev

	- name: Build
	shell: bash
	run: \|
	# Zephyr setup
	pip3 install --user west
	export PATH="$HOME/.local/bin:$PATH"

	west init
	cd zephyr
	git checkout ${{ matrix.zephyr_version }}
	cd ..
	west update --narrow

	# Installing micro-ROS prerequisites
	pip3 install --user catkin_pkg lark-parser empy colcon-common-extensions
	export PATH="$HOME/.local/bin:$PATH"

	if [[ "${{ github.ref_name }}" == "humble" ]] \|\| [[ "${{ github.head_ref }}" == "humble" ]]; then
	# Use empy version 3.3.4 for Humble
	pip3 install --user empy==3.3.4
	fi

	# Build with Serial USB transport
	west build -b disco_l475_iot1 "$GITHUB_WORKSPACE/micro_ros_zephyr_module" -p -- -DCONFIG_MICROROS_TRANSPORT_SERIAL_USB=y

	# Build with Serial transport
	west build -b disco_l475_iot1 "$GITHUB_WORKSPACE/micro_ros_zephyr_module" -p -- -DCONFIG_MICROROS_TRANSPORT_SERIAL=y

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