Add CI pipeline #1

	name: Build Tests

	on:
	push:
	branches:
	- master
	pull_request:
	branches:
	- "*"

	jobs:
	build:
	runs-on: ubuntu-latest
	timeout-minutes: 180
	strategy:
	matrix:
	container:
	- "ros:jazzy"
	container: ${{ matrix.container }}

	steps:
	- name: Checkout repository
	uses: actions/checkout@v3

	- name: Cache APT packages
	uses: actions/cache@v3
	with:
	path: /var/cache/apt
	key: ${{ runner.os }}-apt-${{ hashFiles('dependencies.txt') }}
	restore-keys: \|
	${{ runner.os }}-apt-

	- name: Install Dependencies
	run: \|
	sudo apt-get update && sudo apt-get upgrade -y
	# Install dependencies listed in dependencies.txt
	# Make sure dependencies.txt is at the root of your repo or update the path accordingly
	xargs -a dependencies.txt sudo apt-get install -y

	# Install additional ROS packages
	sudo apt-get install -y ros-jazzy-ament-cmake-clang-format ros-jazzy-joint-state-publisher-gui ros-jazzy-xacro ros-jazzy-mcap-vendor ros-jazzy-interactive-markers

	- name: Initialize submodules
	run: \|
	git config --global --add safe.directory $GITHUB_WORKSPACE
	git submodule update --init --recursive

	- name: Cache Build Artifacts
	uses: actions/cache@v3
	with:
	path: build/
	key: ${{ runner.os }}-build-${{ hashFiles('**/CMakeLists.txt') }}
	restore-keys: \|
	${{ runner.os }}-build-

	- name: Build All
	run: \|
	make build-all

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