From 4554f7429d45a0c7a5b92a7cd9c8ede9073863c2 Mon Sep 17 00:00:00 2001
From: Zhefan Xu <zhefanx@andrew.cmu.edu>
Date: Fri, 22 Mar 2024 23:03:14 -0400
Subject: [PATCH] Update Ubuntu18.04-build.yaml

---
 .github/workflows/Ubuntu18.04-build.yaml | 63 ++++++++++--------------
 1 file changed, 25 insertions(+), 38 deletions(-)

diff --git a/.github/workflows/Ubuntu18.04-build.yaml b/.github/workflows/Ubuntu18.04-build.yaml
index b573344..820bee3 100644
--- a/.github/workflows/Ubuntu18.04-build.yaml
+++ b/.github/workflows/Ubuntu18.04-build.yaml
@@ -12,56 +12,43 @@ on:
     paths-ignore:
       - '**/README.md'
 
+
 jobs:
   build:
     runs-on: ubuntu-latest
-    container:
-      image: ubuntu:18.04
-      options: --privileged  # Allow privileged mode to use sudo
-
+    container: ubuntu:18.04
     env:
       ROS_CI_DESKTOP: "`lsb_release -cs`"
       ROS_DISTRO: melodic
-
     steps:
-      - name: Install sudo
+      - uses: actions/checkout@v2
+        with:
+          submodule: recursive
+      - name: Install sudo and software-properties-common
         run: |
           apt-get update
-          apt-get install -y sudo
-
+          apt-get install -y sudo software-properties-common
+      - name: Install ROS Melodic
+        run: |
+          sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+          sudo apt install curl
+          curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+          sudo apt update
+          sudo apt install ros-melodic-desktop-full
+          source /opt/ros/${ROS_DISTRO}/setup.bash
+      - name: Install ROS packages with rosdep
+        run: |
+          sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
+          sudo apt install python-rosdep
+          sudo rosdep init
+          rosdep update
       - name: Install dependencies
         run: |
-          sudo DEBIAN_FRONTEND=noninteractive apt-get update && sudo DEBIAN_FRONTEND=noninteractive 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 $(lsb_release -sc) main" | sudo tee /etc/apt/sources.list.d/ros-latest.list
-
-      - name: Install ROS key
-        run: curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
-
-      - name: Update package index
-        run: sudo apt-get update
-
-      - name: Install ROS Melodic
-        run: sudo DEBIAN_FRONTEND=noninteractive apt-get install -y ros-melodic-desktop-full
-
-      - name: Initialize rosdep
-        run: yes | sudo rosdep init && sudo rosdep update
-
-      - name: Install additional ROS packages
-        run: sudo DEBIAN_FRONTEND=noninteractive apt-get install -y ros-${ROS_DISTRO}-octomap* ros-${ROS_DISTRO}-mavros* ros-${ROS_DISTRO}-vision-msgs
-
-      - name: Set up catkin workspace
+          sudo apt install -y ros-${ROS_DISTRO}-octomap* ros-${ROS_DISTRO}-mavros* ros-${ROS_DISTRO}-vision-msgs
+      - name: catkin make
         run: |
-          sudo mkdir -p ~/catkin_ws/src
-          sudo ln -s $GITHUB_WORKSPACE ~/catkin_ws/src/
+          mkdir -p ~/catkin_ws/src
+          ln -s $GITHUB_WORKSPACE ~/catkin_ws/src/
           cd ~/catkin_ws
           source /opt/ros/${ROS_DISTRO}/setup.bash
           catkin_make