From 1dc22c0fbcfcea5c1b7ab4e3c398261d27ae59b8 Mon Sep 17 00:00:00 2001
From: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Date: Wed, 17 Jan 2024 10:00:01 -0700
Subject: [PATCH] Use rosdep to install dependencies in ROS workspaces

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
---
 .github/workflows/build_test.yml  | 21 +++++++--------------
 .github/workflows/check_style.yml | 21 ++++++++++++++-------
 package.xml                       |  1 +
 3 files changed, 22 insertions(+), 21 deletions(-)

diff --git a/.github/workflows/build_test.yml b/.github/workflows/build_test.yml
index f3671bf..893bbf6 100644
--- a/.github/workflows/build_test.yml
+++ b/.github/workflows/build_test.yml
@@ -17,26 +17,19 @@ jobs:
           - {rosdistro: 'humble', container: 'osrf/ros:humble-desktop'}
     container: ${{ matrix.config.container }}
     steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v4
       with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-        github-token: ${{ secrets.GITHUB_TOKEN }}
-    - name: Install Dependencies
-      working-directory: 
+        path: src/grid_map_geo
+    - name: Install Dependencies with Rosdep
       run: |
         apt update
-        apt install -y python3-wstool libgdal-dev
+        rosdep update
+        source /opt/ros/${{matrix.config.rosdistro}}/setup.bash
+        rosdep install --from-paths src --ignore-src -y
       shell: bash
-    - name: Build Test
+    - name: Colcon Build (Release)
       working-directory: 
       run: |
-        mkdir -p $HOME/ros2_ws/src;
-        cd $HOME/ros2_ws/src
-        ln -s $GITHUB_WORKSPACE
-        cd $HOME/ros2_ws
-        source /opt/ros/humble/setup.bash
-        rosdep update
-        rosdep install --from-paths src --ignore-src -y --rosdistro ${{matrix.config.rosdistro}}
         colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to grid_map_geo
       shell: bash
     # - name: unit_tests
diff --git a/.github/workflows/check_style.yml b/.github/workflows/check_style.yml
index 2137071..77fdd69 100644
--- a/.github/workflows/check_style.yml
+++ b/.github/workflows/check_style.yml
@@ -14,14 +14,21 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        container:
-        - 'osrf/ros:humble-desktop'
-    container: ${{ matrix.container }}
+        config:
+          - {rosdistro: 'humble', container: 'osrf/ros:humble-desktop'}
+    container: ${{ matrix.config.container }}
     steps:
-    - uses: actions/checkout@v1
-    - name: Install clang-format
-      run: apt update && apt install -y clang-format-14
+    - uses: actions/checkout@v4
+      with:
+        path: src/grid_map_geo
+    - name: Install Dependencies with Rosdep
+      run: |
+        apt update
+        rosdep update
+        source /opt/ros/${{matrix.config.rosdistro}}/setup.bash
+        rosdep install --from-paths src --ignore-src -y
+      shell: bash
     - name: Check Code format
-      working-directory: Tools
+      working-directory: src/grid_map_geo/Tools
       run: |
         ./check_code_format.sh ..
diff --git a/package.xml b/package.xml
index ac5463e..11c3a8e 100644
--- a/package.xml
+++ b/package.xml
@@ -21,6 +21,7 @@
   <depend>yaml_cpp_vendor</depend>
   <exec_depend>ros2launch</exec_depend>
   <exec_depend>grid_map_rviz_plugin</exec_depend>
+  <test_depend>clang-format</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>