Feature IKE_NAV README package architecture figure #22

	name: Build

	on:
	workflow_dispatch:
	schedule:
	- cron: '0 9 * * *'
	push:
	branches:
	- main
	pull_request:
	paths:
	- '**'
	- '!.clang-format'
	- '!.gitignore'
	- '!LICENSE'
	- '!README.md'

	jobs:
	build:
	runs-on: ubuntu-latest
	container: osrf/ros:humble-desktop-full

	steps:
	- name: Checkout repository
	uses: actions/checkout@v2

	- name: Update and install apt dependencies
	run: \|
	sudo apt update -y
	sudo apt install -y rsync
	shell: bash

	- name: Cache IKE_NAV build
	uses: actions/cache@v2
	with:
	path: \|
	~/ros2_ws/build
	~/ros2_ws/install
	~/ros2_ws/log
	~/ros2_ws/src
	key: ${{ runner.os }}-ike_nav-${{ hashFiles('/package.xml', '/CMakeLists.txt') }}
	restore-keys: \|
	${{ runner.os }}-ike_nav-

	- name: Sync repository
	run: \|
	[ ! -d "~/ros2_ws/src/ike_nav" ] && mkdir -p ~/ros2_ws/src/ike_nav
	rsync -auv --delete . ~/ros2_ws/src/ike_nav
	shell: bash

	- name: Resolve ROS 2 package dependencies
	run: \|
	cd ~/ros2_ws
	rosdep update
	rosdep install -i -y --from-path src --rosdistro $ROS_DISTRO
	shell: bash

	- name: Build IKE_NAV
	run: \|
	source /opt/ros/$ROS_DISTRO/setup.sh
	cd ~/ros2_ws
	colcon build --symlink-install
	shell: bash

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