name: ROS2 Build & Test

on:
  push:
  pull_request:

jobs:
  build_and_test:
    runs-on: ubuntu-22.04

    steps:
      - name: Checkout
        uses: actions/checkout@v4

      - name: Install ROS2 (Jazzy)
        uses: ros-tooling/setup-ros@v0.7
        with:
          required-ros-distributions: "jazzy"
          use-ros2-testing: "false"
          install-connext: "false"

      - name: Build workspace
        run: |
          colcon build --event-handlers console_direct+

      - name: Run tests
        run: |
          colcon test --event-handlers console_direct+
          colcon test-result --verbose