regression_test.yml

name: regression_test

on:
  pull_request:
    types:
      - opened
      - synchronize
  # Allows you to run this workflow manually from the Actions tab
  workflow_dispatch:

jobs:
  regression_test:
    runs-on: ubuntu-latest
    container:
      image: ros:humble
    steps:
      - name: Check out repository
        uses: actions/checkout@v4
        with:
          ref: ${{ github.event.pull_request.head.ref }}

      - name: Install dependencies
        run: |
          apt-get update
          apt-get install -y wget unzip libpcl-dev python3-pip
          pip3 install pandas matplotlib

      - name: Download data
        run: |
          ./script/download_data.sh

      - name: Build
        shell: bash
        run: |
          source /opt/ros/humble/setup.bash
          mkdir -p build
          cd build
          cmake ..
          make -j
          cd ..

      - name: Run regression test
        run: |
          ./script/execute_regression_test.sh

      - name: Run check_covariance
        run: |
          ./script/check_covariance.sh ./regression_test_data/input/ ./regression_test_data/output_check_covariance/

      - name: Upload output files
        uses: actions/upload-artifact@v4
        if: always()
        with:
          name: regression-test-output
          path: |
            ./regression_test_data/output/
            ./regression_test_data/output_check_covariance/