build_code.yml

name: CI

on: [push, pull_request]

jobs:
  build-code:
    runs-on: ubuntu-latest
    container:
      image: osrf/ros:noetic-desktop-full
    
    steps:
    - name: Create catkin workspace
      shell: bash
      run: |
        mkdir -p ~/catkin_ws/src
    - uses: actions/checkout@v3
      with:
        path: 'catkin_ws/src/Cartesian-Impedance-Controller'
    - name: Build in catkin_ws
      shell: bash
      run: |
        apt-get update
        apt-get install -y python3-catkin-tools  python3-rosdep git
        cd catkin_ws
        bash src/Cartesian-Impedance-Controller/scripts/install_dependencies.sh
        rosdep update
        source /opt/ros/$ROS_DISTRO/setup.bash
        rosdep install --from-paths src --ignore-src --rosdistro=$ROS_DISTRO -y
        catkin init
        catkin config --extend /opt/ros/$ROS_DISTRO
        catkin build
        echo "Compile complete."
    - name: Run tests
      shell: bash
      run: |
        source /opt/ros/$ROS_DISTRO/setup.bash
        cd catkin_ws
        catkin test