poetry-test.yml

name: build and test

on:
  pull_request:
    branches:
      - development

jobs:
  build-and-test-ros2:
    strategy:
      matrix:
        include:
          - ros_distro: jazzy
            ubuntu_version: "24.04"
          - ros_distro: humble
            ubuntu_version: "22.04"
    runs-on: ubuntu-${{ matrix.ubuntu_version }}

    container:
      image: osrf/ros:${{ matrix.ros_distro }}-desktop-full

    steps:
      - uses: actions/checkout@v4

      - name: Install Poetry
        uses: snok/install-poetry@v1

      - name: Install python dependencies
        run: poetry install --with gdino

      - name: Update rosdep
        shell: bash
        run: |
          rosdep update

      - name: Install ROS 2 package dependencies
        shell: bash
        run: |
          apt-get update
          rosdep install --from-paths src --ignore-src -r -y

      - name: Build the workspace
        shell: bash
        run: |
          source /opt/ros/${{ matrix.ros_distro }}/setup.bash
          colcon build

      - name: Run tests
        shell: bash
        run: |
          source /opt/ros/${{ matrix.ros_distro }}/setup.bash
          source install/setup.bash
          poetry run pytest