Add CI Build (#109)

.github/workflows/build.yml

@@ -0,0 +1,36 @@
+name: Build MultiSense ROS
+
+on:
+  push:
+    branches:
+      - master
+  release:
+  pull_request:
+    branches:
+      - master
+  workflow_dispatch:
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    concurrency:
+      group: ${{ github.ref_name }}-${{ matrix.ros_distro }}-build
+      cancel-in-progress: ${{ github.ref_name != 'main' }}
+    strategy:
+      fail-fast: false
+      matrix:
+        ros_distro:
+          - noetic
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+      - uses: docker/setup-buildx-action@v3
+      - name: Build Docker Image
+        uses: docker/build-push-action@v6
+        with:
+          context: .
+          file: Dockerfile
+          push: false
+          build-args: |
+            ros_codename=${{ matrix.ros_distro }}

Dockerfile

@@ -0,0 +1,25 @@
+ARG ros_codename=noetic
+
+FROM ros:${ros_codename}-ros-base
+ARG ros_codename
+
+ENV LANG=en_US.UTF-8
+ENV DEBIAN_FRONTEND=noninteractive
+SHELL ["/bin/bash", "-c"]
+
+RUN mkdir -p /opt/crl/catkin_ws/src
+WORKDIR /opt/crl/catkin_ws
+
+COPY . /opt/crl/catkin_ws/src/multisense_ros
+
+RUN . /opt/ros/${ros_codename}/setup.bash \
+    && apt-get update \
+    && rosdep update \
+    && rosdep install --from-paths src -y --ignore-src \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
+
+RUN . /opt/ros/${ros_codename}/setup.bash \
+    && catkin_make install -DCMAKE_INSTALL_PREFIX=/opt/ros/${ros_codename} \
+    && catkin_make test \
+    && rm -r /opt/crl/catkin_ws/{src,devel,build}