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Port #93 to ros2 branch #170

Port #93 to ros2 branch

Port #93 to ros2 branch #170

Workflow file for this run

name: ubuntu-build
on: [push, pull_request, workflow_dispatch]
# paths:
# - "*"
# - "!README.md" <-- don't rebuild on doc change
concurrency:
group: ci-${{github.workflow}}-${{ github.ref }}
cancel-in-progress: true
jobs:
build:
runs-on: ubuntu-20.04
name: ubuntu-build
steps:
- name: Checkout
uses: actions/checkout@v3
with:
submodules: 'recursive'
- name: Install Build Dependencies
shell: bash
run: |
sudo apt update && sudo apt install --no-install-recommends -y \
lsb-release \
sudo \
software-properties-common \
wget \
make \
cmake \
ccache \
g++ \
git
sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
sudo apt update && sudo apt install --no-install-recommends -y \
rapidjson-dev gz-garden
# Put ccache into github cache for faster build
- name: Prepare ccache timestamp
id: ccache_cache_timestamp
run: |
NOW=$(date -u +"%F-%T")
echo "::set-output name=timestamp::${NOW}"
- name: Cache ccache files
uses: actions/cache@v2
with:
path: ~/.ccache
key: ${{github.workflow}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
restore-keys: ${{github.workflow}}-ccache- # restore ccache from either previous build on this branch or on master
- name: Setup ccache
run: |
. .github/workflows/ccache.env
- name: Build
shell: bash
run: |
mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
make -j4