changed workflow to compile ros package

.github/workflows/cmake-single-platform.yml

@@ -1,39 +1,49 @@
-# This starter workflow is for a CMake project running on a single platform. There is a different starter workflow if you need cross-platform coverage.
-# See: https://github.com/actions/starter-workflows/blob/main/ci/cmake-multi-platform.yml
-name: CMake on a single platform
+name: Build and Test ROS Package
 
 on:
   push:
-    branches: [ "main" ]
+    branches:
+      - main
   pull_request:
-    branches: [ "main" ]
-
-env:
-  # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
-  BUILD_TYPE: Release
+    branches:
+      - main
 
 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
+  build-and-test:
     runs-on: ubuntu-latest
+    container:
+      image: ros:noetic-robot  # 使用ROS Noetic的官方Docker容器
 
     steps:
-    - uses: actions/checkout@v4
-
-    - name: Configure CMake
-      # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
-      # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
-      run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
-
-    - name: Build
-      # Build your program with the given configuration
-      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
-
-    - name: Test
-      working-directory: ${{github.workspace}}/build
-      # Execute tests defined by the CMake configuration.
-      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
-      run: ctest -C ${{env.BUILD_TYPE}}
+    - name: Checkout Code
+      uses: actions/checkout@v2
+
+    - name: Setup ROS Environment
+      run: |
+        echo "source /opt/ros/noetic/setup.bash" >> $GITHUB_ENV
+        sudo apt update
+        sudo apt install -y python3-rosdep python3-pip
+        sudo rosdep init
+        rosdep update
+
+    - name: Install Dependencies
+      run: |
+        rosdep install --from-paths src --ignore-src -r -y
+
+    - name: Install yaml-cpp
+      run: |
+        sudo apt-get install -y libyaml-cpp-dev
+
+    - name: Build ROS Package
+      run: |
+        source /opt/ros/noetic/setup.bash
+        mkdir -p catkin_ws/src
+        cp -R . catkin_ws/src/
+        cd catkin_ws
+        catkin_make
+
+    - name: Run Tests
+      run: |
+        source catkin_ws/devel/setup.bash
+        catkin_make run_tests && catkin_test_results