ci-linux-ros.yml

name: CI - Linux - ROS
on:
  push:
  pull_request:
    paths-ignore:
      - CHANGELOG.md

jobs:
  CI:
    strategy:
      matrix:
        env:
          # ROS1 Noetic. EOL: May 2025
          - {name: "Noetic / Debug", ROS_DISTRO: noetic, CMAKE_BUILD_TYPE: Debug, VECTORIZATION_SUPPORT: OFF}
          - {name: "Noetic / Release", ROS_DISTRO: noetic, CMAKE_BUILD_TYPE: Release,  VECTORIZATION_SUPPORT: OFF}
          # ROS2 Jazzy Jalisco (May 2024 - May 2029)
          - {name: "Jazzy / Debug", ROS_DISTRO: jazzy, CMAKE_BUILD_TYPE: Debug, VECTORIZATION_SUPPORT: OFF}
          - {name: "Jazzy / Release", ROS_DISTRO: jazzy, CMAKE_BUILD_TYPE: Release,  VECTORIZATION_SUPPORT: OFF}
          - {name: "Jazzy / Debug / Vectorization", ROS_DISTRO: jazzy, CMAKE_BUILD_TYPE: Debug, VECTORIZATION_SUPPORT: ON}
          - {name: "Jazzy / Release / Vectorization", ROS_DISTRO: jazzy, CMAKE_BUILD_TYPE: Release,  VECTORIZATION_SUPPORT: ON}
          # ROS2 Iron Irwini (May 2023 - November 2024)
          - {name: "Iron / Debug", ROS_DISTRO: iron, CMAKE_BUILD_TYPE: Debug, VECTORIZATION_SUPPORT: OFF}
          - {name: "Iron / Release", ROS_DISTRO: iron, CMAKE_BUILD_TYPE: Release,  VECTORIZATION_SUPPORT: OFF}
          - {name: "Iron / Debug / Vectorization", ROS_DISTRO: iron, CMAKE_BUILD_TYPE: Debug, VECTORIZATION_SUPPORT: ON}
          - {name: "Iron / Release / Vectorization", ROS_DISTRO: iron, CMAKE_BUILD_TYPE: Release,  VECTORIZATION_SUPPORT: ON}
          # ROS2 Humble Hawksbill (May 2022 - May 2027)
          - {name: "Humble / Debug / Vectorization", ROS_DISTRO: humble, CMAKE_BUILD_TYPE: Debug, VECTORIZATION_SUPPORT: ON}
          - {name: "Humble / Release / Vectorization", ROS_DISTRO: humble, CMAKE_BUILD_TYPE: Release,  VECTORIZATION_SUPPORT: ON}
          # - {name: "Humble / Pre-Release", ROS_DISTRO: humble, PRERELEASE: true}
          # ROS2 Rolling Ridley
          - {name: "Rolling / Debug / Vectorization", ROS_DISTRO: rolling, CMAKE_BUILD_TYPE: Debug, VECTORIZATION_SUPPORT: ON}
          - {name: "Rolling / Release / Vectorization", ROS_DISTRO: rolling, CMAKE_BUILD_TYPE: Release,  VECTORIZATION_SUPPORT: ON}
          # - {name: "Rolling / Pre-Release", ROS_DISTRO: rolling, PRERELEASE: true}
          - {name: "Rolling / TSID-Downstream", ROS_DISTRO: rolling, CMAKE_BUILD_TYPE: Release, VECTORIZATION_SUPPORT: ON, DOWNSTREAM_WORKSPACE: "github:stack-of-tasks/tsid#devel github:stack-of-tasks/eiquadprog#devel", DOWNSTREAM_CMAKE_ARGS: -DBUILD_WITH_PROXQP=ON}
    name: ${{ matrix.env.name }}
    env:
      CMAKE_ARGS: -DBUILD_WITH_VECTORIZATION_SUPPORT=${{ matrix.env.VECTORIZATION_SUPPORT }}  # Simde is available since humble
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4
        with:
          submodules: recursive
      # Run industrial_ci
      - uses: 'ros-industrial/industrial_ci@master'
        env: ${{ matrix.env }}


  check:
    if: always()
    name: check-ci-linux-ros

    needs:
    - CI

    runs-on: Ubuntu-latest
    steps:
    - name: Decide whether the needed jobs succeeded or failed
      uses: re-actors/alls-green@release/v1
      with:
        jobs: ${{ toJSON(needs) }}