build_test.yml

name: X17-Surface Build Test

# Controls when the action will run. 
# Workflow runs when manually triggered using the UI, or when a push or pull request is made to the main branch
on:
  push:
    branches:
      - master
  pull_request:
    branches:
      - master
  workflow_dispatch:

jobs:
  build:
    # The type of runner that the job will run on
    runs-on: ubuntu-22.04

    steps:

      - name: Checkout code
        uses: actions/checkout@v4

      # Set up ROS 2 (Jazzy)
      - name: Set up ROS 2
        uses: ros-tooling/setup-ros@v0.7
        with:
          required-ros-distributions: humble

      # Install dependencies from requirements.txt
      - name: Install dependencies
        run: |
          sudo apt-get update && sudo apt-get install -y python3-pip
          sudo pip3 install -r requirements.txt
          sudo apt-get update && sudo apt-get install -y wget

      # Run the install MediaMTX script
      - name: Install MediaMTX
        run: |
          chmod +x scripts/install_mediamtx.sh
          scripts/install_mediamtx.sh

      # Build the ROS workspace
      - name: Build workspace
        run: |
          chmod +x scripts/build.sh
          scripts/build.sh

      # Run the build script
      - name: Start and check ROS 2 nodes
        run: |
          chmod +x scripts/run.sh
          scripts/run.sh &
          sleep 15  # Give nodes time to start
          # Kill ROS 2 nodes
          echo "Killing ROS 2 nodes:"
          pkill -f ros2 || true    # Success message

      - name: Success
        run: echo "Success!"