name: ros2

on:
  push:
    branches: [ ros2 ]
  pull_request:
    branches: [ ros2 ]

env:
  BUILD_TYPE: Release

jobs:
  build:
    name: Build ros2 ${{ matrix.ros_distro }}
    runs-on: ubuntu-latest
    strategy:
      matrix:
        ros_distro: [humble, jazzy, kilted]
        include:
        - ros_distro: humble
          skip_keys: ''
        - ros_distro: jazzy
          skip_keys: ''
        - ros_distro: kilted
          skip_keys: 'nav2_bringup nav2_msgs'
      fail-fast: false
    container:
      image: osrf/ros:${{ matrix.ros_distro }}-desktop-full
    steps:   
    - uses: actions/checkout@v4
    - uses: ros-tooling/setup-ros@v0.7
      with:
        required-ros-distributions: ${{ matrix.ros_distro }}
    - run: |
        echo "repositories:\n  introlab/rtabmap:\n    type: git\n    url: https://github.com/introlab/rtabmap.git\n    version: master\n" > /tmp/deps.repos &&\
        cat /tmp/deps.repos
    - uses: ros-tooling/action-ros-ci@v0.4
      with:
        package-name: rtabmap_ros
        target-ros2-distro: ${{ matrix.ros_distro }}
        vcs-repo-file-url: /tmp/deps.repos
        rosdep-skip-keys: "${{ matrix.skip_keys }}"