Ubuntu18.04-build.yaml

name: Ubuntu18.04 Melodic

on: 
  push: 
    branches:
      - main
    paths-ignore:
      - '**/README.md'
  pull_request:
    branches:
      - main
    paths-ignore:
      - '**/README.md'

jobs:
  build:
    runs-on: ubuntu-latest
    container:
      image: ubuntu:18.04
      options: --privileged  # Allow privileged mode to use sudo

    env:
      ROS_CI_DESKTOP: "`lsb_release -cs`"
      ROS_DISTRO: melodic

    steps:
      - name: Install sudo
        run: |
          apt-get update
          apt-get install -y sudo

      - name: Install dependencies
        run: |
          sudo apt-get update && sudo apt-get install -y \
          curl \
          python3-rosdep \
          python3-rosinstall \
          python3-rosinstall-generator \
          python3-wstool \
          build-essential \
          && sudo rm -rf /var/lib/apt/lists/*

      - name: Add ROS repository
        run: echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" | sudo tee /etc/apt/sources.list.d/ros-latest.list

      - name: Install ROS key
        run: curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

      - name: Update package index
        run: sudo apt-get update

      - name: Install ROS Melodic
        run: sudo apt-get install -y ros-melodic-desktop-full

      - name: Initialize rosdep
        run: yes | sudo rosdep init && sudo rosdep update

      - name: Install additional ROS packages
        run: sudo apt-get install -y ros-${ROS_DISTRO}-octomap* ros-${ROS_DISTRO}-mavros* ros-${ROS_DISTRO}-vision-msgs

      - name: Set up catkin workspace
        run: |
          sudo mkdir -p /root/catkin_ws/src
          sudo ln -s $GITHUB_WORKSPACE /root/catkin_ws/src/
          cd /root/catkin_ws
          source /opt/ros/${ROS_DISTRO}/setup.bash
          catkin_make