Bump actions/upload-artifact from 3 to 4 (#17) #41

	name: CI
	on:
	push:
	branches: [ main ]
	pull_request:
	branches: [ main ]
	jobs:
	CI:
	runs-on: ubuntu-latest
	permissions:
	contents: read
	issues: read
	checks: write
	pull-requests: write
	steps:
	- name: Prepare
	run: \|
	mkdir -p ${{github.workspace}}/src
	- uses: actions/checkout@v4
	with:
	path: src/acados_vendor_ros2

	- name: Build Docker Image
	uses: docker/build-push-action@v5
	with:
	tags: acados_vendor_ros2:humble
	file: .docker/ci/Dockerfile
	push: false

	- name: Build
	uses: addnab/docker-run-action@v3
	with:
	image: acados_vendor_ros2:humble
	options: -v ${{github.workspace}}/:/ros/
	run: \|
	cd /ros # structure = <...>/ros/src/acados_vendor_ros2/<...>
	. /opt/ros/humble/setup.sh
	cd src/acados_vendor_ros2
	git config --global --add safe.directory '*'
	git submodule update --init --recursive
	cd ../..
	rosdep install --ignore-src --from-paths . -y -r
	colcon build && colcon build

	- name: Tests
	uses: addnab/docker-run-action@v3
	with:
	image: acados_vendor_ros2:humble
	options: -v ${{github.workspace}}/:/ros/
	run: \|
	cd /ros
	. /opt/ros/humble/setup.sh
	rosdep install --ignore-src --from-paths . -y -r
	colcon build && colcon build
	colcon test
	colcon test-result

	- name: Upload Tests to Artifacts
	uses: actions/upload-artifact@v4
	if: always()
	with:
	name: test-results
	path: build//test_results//*.xml

	- name: Publish Unit Test Results
	uses: EnricoMi/publish-unit-test-result-action@v2
	if: always()
	with:
	files: build//test_results//*.xml

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