name: CI - Linux - ROS
on: [push, pull_request]

jobs:
  CI:
    strategy:
      matrix:
        env:
          #- {ROS_DISTRO: rolling} Unable to locate package ros-rolling-pinocchio
          - {ROS_DISTRO: iron}
          - {ROS_DISTRO: humble}
    env:
      CCACHE_DIR: /github/home/.ccache # Enable ccache
      UPSTREAM_WORKSPACE: dependencies.rosinstall
      CMAKE_ARGS: -DBUILD_WITH_OSQP=ON -DBUILD_WITH_PROXQP=ON -DBUILD_WITH_VECTORIZATION_SUPPORT=OFF  # Simde is not available yet
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4
        with:
          submodules: recursive
      # eiquadprog is not yet available in ROS2
      - run: sed -i "/eiquadprog/d" package.xml
      # This step will fetch/store the directory used by ccache before/after the ci run
      - uses: actions/cache@v3
        with:
          path: ${{ env.CCACHE_DIR }}
          key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
      # Run industrial_ci
      - uses: 'ros-industrial/industrial_ci@d23b9ad2c63bfad638a2b1fe3df34b8df9a2f17b'
        env: ${{ matrix.env }}