mpc_controller/.github/workflows/ci.yml at 25b0929af7c79bc4e379b07757eeaa89c30db231 · yeezhouyi/mpc_controller · GitHub

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name: CI

on:
  push:
    branches: [main]
  pull_request:
    branches: [main]

jobs:
  build-and-test:
    runs-on: ubuntu-24.04
    container:
      image: ros:jazzy-ros-base

    steps:
      - name: Checkout
        uses: actions/checkout@v4

      - name: Install system dependencies
        run: |
          apt-get update
          apt-get install -y --no-install-recommends \
            ros-jazzy-osqp-vendor \
            ros-jazzy-controller-interface \
            ros-jazzy-controller-manager \
            ros-jazzy-realtime-tools \
            ros-jazzy-pluginlib \
            ros-jazzy-ros2-control \
            ros-jazzy-ament-cmake-gtest \
            ros-jazzy-ament-lint-auto \
            ros-jazzy-ament-lint-common \
            libeigen3-dev
          rm -rf /var/lib/apt/lists/*

      - name: Build
        run: |
          . /opt/ros/jazzy/setup.sh
          cd $GITHUB_WORKSPACE/..
          colcon build --packages-select mpc_controller

      - name: Test
        run: |
          . /opt/ros/jazzy/setup.sh
          cd $GITHUB_WORKSPACE/..
          colcon test --packages-select mpc_controller --ctest-args -R test_
          colcon test-result --verbose