Interrupting an existing flight mode by a custom flight mode executor #250

	name: Build and test
	on:
	push:
	branches:
	- 'main'
	pull_request:
	branches:
	- '*'
	defaults:
	run:
	shell: bash
	jobs:
	build_and_test:
	name: Build and test
	runs-on: ubuntu-latest
	container:
	image: rostooling/setup-ros-docker:ubuntu-jammy-latest
	steps:
	- name: Setup ROS 2
	uses: ros-tooling/[email protected]
	with:
	required-ros-distributions: humble
	- name: Checkout repository
	uses: actions/checkout@v3
	- name: Build and test
	id: ros-build
	uses: ros-tooling/[email protected]
	with:
	package-name:
	import-token: ${{ secrets.GITHUB_TOKEN }}
	vcs-repo-file-url: \|
	$GITHUB_WORKSPACE/dependencies.repos
	target-ros2-distro: humble
	colcon-defaults: \|
	{
	"build": {
	"merge-install": true
	},
	"test": {
	"packages-select-regex": [
	"px4_ros2_cpp"
	],
	"ctest-args": [
	"-R", "unit_tests"
	],
	"merge-install": true
	}
	}

	- name: install clang tidy
	run: \|
	sudo apt install --yes -qq clang-tidy
	- name: clang tidy
	run: \|
	ROS_WS_DIR="$(readlink -f ${{ steps.ros-build.outputs.ros-workspace-directory-name }})"
	cd "$ROS_WS_DIR"
	cd src
	cd $(find -name ${{ github.event.repository.name }}\|head -1) # the path looks like this: 'src/zlrido15uw/<repo-name>'
	echo "Running clang-tidy on $PWD"
	./scripts/run-clang-tidy-on-project.sh "$ROS_WS_DIR"/build

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