GridMap integration #212

	name: ros1

	on:
	push:
	branches: [ master ]
	pull_request:
	branches: [ master ]

	env:
	# Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
	BUILD_TYPE: Release

	jobs:
	build:
	# The CMake configure and build commands are platform agnostic and should work equally
	# well on Windows or Mac. You can convert this to a matrix build if you need
	# cross-platform coverage.
	# See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
	name: Build on ros ${{ matrix.ros_distro }} and ${{ matrix.os }}
	runs-on: ${{ matrix.os }}
	strategy:
	matrix:
	os: [ubuntu-20.04]
	include:
	- os: ubuntu-20.04
	ros_distro: 'noetic'


	steps:
	- uses: ros-tooling/[email protected]
	with:
	required-ros-distributions: ${{ matrix.ros_distro }}

	- name: Install dependencies
	run: \|
	sudo apt-get update
	sudo apt-get -y install ros-${{ matrix.ros_distro }}-rtabmap-ros python3-catkin-tools
	sudo apt-get -y remove ros-${{ matrix.ros_distro }}-rtabmap

	- name: Setup catkin workspace
	run: \|
	source /opt/ros/${{ matrix.ros_distro }}/setup.bash
	mkdir -p ${{github.workspace}}/catkin_ws/src
	cd ${{github.workspace}}/catkin_ws/src
	cd ..
	catkin config --init --cmake-args -DSETUPTOOLS_DEB_LAYOUT=OFF

	- uses: actions/checkout@v2
	with:
	repository: 'introlab/rtabmap'
	path: 'catkin_ws/src/rtabmap'

	- uses: actions/checkout@v2
	with:
	path: 'catkin_ws/src/rtabmap_ros'

	- name: caktkin build
	run: \|
	source /opt/ros/${{ matrix.ros_distro }}/setup.bash
	cd ${{github.workspace}}/catkin_ws
	catkin build -p 1 -i

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