ubuntu.yml

name: Ubuntu

on:
  push:
    branches:
      - master
  pull_request:
  schedule:
    - cron: '0 5 * * *'
  release:
    types:
      - released
jobs:
  get-tag:
    # Pre-job to fetch the latest tag
    runs-on: ubuntu-latest
    outputs:
      major: ${{ steps.extract_tag.outputs.major }}
      minor: ${{ steps.extract_tag.outputs.minor }}
    steps:
      - name: Checkout repository
        uses: actions/checkout@v4
        with:
          fetch-depth: 0  # Ensure all history and tags are fetched

      - name: Get latest tag
        id: extract_tag
        run: |
          latest_tag=$(git describe --tags `git rev-list --tags --max-count=1`)
          echo "Latest tag: $latest_tag"

          # Extract major and minor version from the tag
          IFS='.' read -r major minor patch <<< "$latest_tag"
          echo "Major: $major"
          echo "Minor: $minor"

          # Set as output variables
          echo "::set-output name=major::$major"
          echo "::set-output name=minor::$minor"
  ci:
    name: ${{ matrix.distro }}
    needs: get-tag  # Make sure the 'ci' job waits for the 'get-tag' job to finish
    runs-on: ubuntu-latest
    strategy:
      fail-fast: false
      matrix:
        distro: [focal, jammy, noble]
    container:
      image: ghcr.io/tesseract-robotics/tesseract_planning:${{ matrix.distro }}-${{ needs.get-tag.outputs.major }}.${{ needs.get-tag.outputs.minor }
      env:
        CCACHE_DIR: "$GITHUB_WORKSPACE/${{ matrix.distro }}/.ccache"
        DEBIAN_FRONTEND: noninteractive
        TZ: Etc/UTC
    steps:
      - name: Checkout repository
        uses: actions/checkout@v4
        with:
          path: target_ws/src

      - name: Install Depends
        shell: bash
        run: |
          apt update
          apt upgrade -y
          apt install -y wget
          cd $GITHUB_WORKSPACE/target_ws/src
          ./.add-gazebo-ppa
      - name: Install Depends (non-noble)
        if: ${{ matrix.distro != 'noble' }}
        shell: bash
        run: |
          apt install -y libgz-rendering7-dev libgz-common5-dev libgz-math7-dev
          apt install -y qt-advanced-docking-system
      - name: Install Depends (noble)
        if: ${{ matrix.distro  == 'noble' }}
        shell: bash
        run: |
          apt install -y libgz-rendering8-dev libgz-common5-dev libgz-math7-dev
          apt install -y libqt-advanced-docking-system-dev

      - name: Build and Tests
        uses: tesseract-robotics/colcon-action@v8
        with:
          before-script: source /opt/tesseract/install/setup.bash && source /opt/tesseract_planning/install/setup.bash
          ccache-prefix: ${{ matrix.distro }}
          target-path: target_ws/src
          target-args: --cmake-args -DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_TESTING=ON