ローカルプランナの実装を切替可能にする #73

	---
	name: build test

	on:
	workflow_dispatch:
	pull_request:

	jobs:
	job:
	name: BuildAndRun
	runs-on: ubuntu-22.04
	timeout-minutes: 180
	container: ros:${{ matrix.rosdistro }}
	env:
	DEBIAN_FRONTEND: noninteractive
	strategy:
	fail-fast: false
	matrix:
	rosdistro: [humble]
	steps:
	- name: suppress warnings
	run: \|
	git config --global --add safe.directory '*'

	- uses: actions/checkout@v4
	with:
	fetch-depth: 0
	token: ${{ secrets.GITHUB_TOKEN }}

	- name: Copy repository
	run: \|
	mkdir -p ~/ibis_ws/src/crane
	cp -rf . ~/ibis_ws/src/crane
	shell: bash

	- name: Install dependencies
	run: \|
	cd ~/ibis_ws
	vcs import src < src/crane/dependency.repos

	- name: Resolve rosdep
	run: \|
	cd ~/ibis_ws
	apt-get update
	apt install -y python3-pip
	rosdep update --include-eol-distros
	rosdep install -iy --from-paths src --rosdistro ${{ matrix.rosdistro }}
	shell: bash

	- name: Build packages
	run: \|
	source /opt/ros/${{ matrix.rosdistro }}/setup.bash
	cd ~/ibis_ws
	colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
	shell: bash

	- name: Colcon test
	run: \|
	source /opt/ros/${{ matrix.rosdistro }}/setup.bash
	cd ~/ibis_ws
	colcon test
	shell: bash

	- name: Show test result
	if: always()
	run: \|
	source /opt/ros/${{ matrix.rosdistro }}/setup.bash
	cd ~/ibis_ws
	colcon test-result --verbose
	shell: bash

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