name: Build in ubuntu:20.04 with ROS2 Foxy

on:
  push:
    branches: [ "master" ]
  pull_request:
    branches: [ "master" ]

jobs:
  build:
    runs-on: ubuntu-latest  # Use latest runner to host the container
    
    container:
      image: althack/ros2:foxy-full
      options: --privileged  # Needed for some build tools

    steps:
    - uses: actions/checkout@v4
    
    - name: Install dependencies
      run: |
        export DEBIAN_FRONTEND=noninteractive
        curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
        apt-get update
        apt install -y ros-foxy-rmw-cyclonedds-cpp ros-foxy-rosidl-generator-dds-idl
    - name: ROS2 build
      run: |
        export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
        cd cyclonedds_ws
        git clone https://github.com/ros2/rmw_cyclonedds -b foxy
        git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x 
        cd ..
        export LD_LIBRARY_PATH=/opt/ros/foxy/lib
        colcon build --packages-select cyclonedds
        . /opt/ros/foxy/setup.sh
        export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
        cd cyclonedds_ws
        colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --packages-select unitree_go unitree_hg unitree_api
        . ./install/setup.sh
        cd ..
        colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --packages-select unitree_ros2_example
        . ./install/setup.sh
        echo "Build completed successfully."