weekly_pipeline.yml

name: Weekly pipeline

on:
  push:
    branches: [ main ]
    paths: '.github/workflows/**'
  pull_request:
    branches: [ main ]
    paths: '.github/workflows/**'
  schedule:
    - cron: '0 0 * * 0'  # Weekly on Sunday

concurrency:
  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
  cancel-in-progress: true

jobs:
  build-test:
    runs-on: ubuntu-latest
    strategy:
      fail-fast: false
      matrix:
        ros_distro:
          - noetic
          - humble
          - iron
          - jazzy
          - rolling
    container:
      image: ros:${{ matrix.ros_distro }}-ros-base
    steps:
      - name: Install debian packages
        run: >-
          sudo apt-get update && sudo apt-get install -y \
            git \
            lcov \
            python3-colcon-common-extensions \
            python3-colcon-coveragepy-result \
            python3-colcon-lcov-result \
            python3-colcon-mixin \
            python3-pip \
            python3-vcstool

      - name: Install python packages
        run: |
             export PIP_BREAK_SYSTEM_PACKAGES=1
             pip install pre-commit==2.20.0 \
             h5py==3.11.0

      - name: Checkout repository
        uses: actions/checkout@v3
        with:
          path: ${{ github.workspace }}/src/beluga

      - name: Import external repositories
        working-directory: ${{ github.workspace }}/src
        run: |
          vcs import < ./beluga/docker/files/${{ matrix.ros_distro }}.repos
          rm -rf ./flatland

      - name: Install dependencies
        run: |
          . /opt/ros/${{ matrix.ros_distro }}/setup.sh
          export PIP_BREAK_SYSTEM_PACKAGES=1
          rosdep update
          sudo -E rosdep install -r --from-paths src -y -i -t exec -t build -t doc -t test
          colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/c75e4b34a3959524564afb584e2aa33c7eec323c/index.yaml
          colcon mixin update default

      - name: Setup compiler cache
        uses: Chocobo1/setup-ccache-action@v1
        with:
          api_token: ${{ secrets.GITHUB_TOKEN }}
          update_packager_index: false
          override_cache_key: ccache-${{ matrix.ros_distro }}-${{ github.head_ref || github.ref_name }}
          override_cache_key_fallback: |
            ccache-${{ matrix.ros_distro }}-${{ github.base_ref || github.ref_name }}
            ccache-${{ matrix.ros_distro }}-

      - name: Build and test
        working-directory: ${{ github.workspace }}
        run: ./src/beluga/tools/build-and-test.sh