From 363cf957982b8b0e3d9f488ea2e8415e57ae41a3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christopher=20Str=C3=B8m?=
 <48532094+chrstrom@users.noreply.github.com>
Date: Mon, 15 Jul 2024 18:37:20 +0200
Subject: [PATCH] Try hijacking docker publish action that is already set up

---
 .github/workflows/docker-publish.yml | 77 ++++++++++++++++------------
 1 file changed, 43 insertions(+), 34 deletions(-)

diff --git a/.github/workflows/docker-publish.yml b/.github/workflows/docker-publish.yml
index 977fb4d5..5e517b98 100755
--- a/.github/workflows/docker-publish.yml
+++ b/.github/workflows/docker-publish.yml
@@ -1,42 +1,51 @@
-name: Publish Docker image to ghcr
+name: Build ROS 2 Package
 
 on:
+  workflow_dispatch:
   push:
     branches: [ main ]
+  pull_request:
+    branches: [ main ]
 
+jobs:
+  build:
+    runs-on: ubuntu-22.04
+    
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        fetch-depth: 0
 
-env:
-  REGISTRY: ghcr.io
-  IMAGE_NAME: ${{ github.repository }}
+    - name: Setup ROS 2
+      uses: ros-tooling/setup-ros@v0.6
+      with:
+        required-ros-distributions: humble
 
-jobs:
-  build-and-push-image:
-    runs-on: ubuntu-20.04
-    permissions:
-      contents: read
-      packages: write
+    - name: Clone vortex-msgs
+      run: |
+        git clone https://github.com/vortexntnu/vortex-msgs.git
 
-    steps:
-      - name: Checkout repository
-        uses: actions/checkout@v2
-
-      - name: Log in to the Container registry
-        uses: docker/login-action@f054a8b539a109f9f41c372932f1ae047eff08c9
-        with:
-          registry: ${{ env.REGISTRY }}
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-          
-      - name: Extract metadata (tags, labels) for Docker
-        id: meta
-        uses: docker/metadata-action@98669ae865ea3cffbcbaa878cf57c20bbf1c6c38
-        with:
-          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
-
-      - name: Build and push Docker image
-        uses: docker/build-push-action@ad44023a93711e3deb337508980b4b5e9bcdc5dc
-        with:
-          context: .
-          push: true
-          tags: ${{ steps.meta.outputs.tags }}
-          labels: ${{ steps.meta.outputs.labels }}
+    - name: Create workspace
+      run: |
+        mkdir -p ~/ros2_ws/src
+        cp -R $GITHUB_WORKSPACE ~/ros2_ws/src/
+        cp -R vortex-msgs ~/ros2_ws/src/
+
+    - name: Install dependencies
+      run: |
+        cd ~/ros2_ws
+        rosdep update
+        rosdep install --from-paths src --ignore-src -r -y
+
+    - name: Build with colcon
+      run: |
+        cd ~/ros2_ws
+        . /opt/ros/humble/setup.sh
+        colcon build --symlink-install
+
+    - name: Run tests
+      run: |
+        cd ~/ros2_ws
+        . /opt/ros/humble/setup.sh
+        colcon test
+        colcon test-result --verbose