ros2_build.sh

#!/bin/bash
set -e

# install dependencies
apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 421C365BD9FF1F717815A3895523BAEEB01FA116
echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list
apt update && apt install -y python3 python3-pip libgtest-dev lcov cmake && rosdep update
cd /usr/src/gtest && cmake CMakeLists.txt && make && cp *.a /usr/lib
apt update && apt install -y python3-colcon-common-extensions && pip3 install -U setuptools

# use colcon as build tool to build the package, and optionally build tests
. /opt/ros/$ROS_DISTRO/setup.sh
cd /"$ROS_DISTRO"_ws/
rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -r -y
colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCMAKE_CXX_FLAGS='-fprofile-arcs -ftest-coverage' -DCMAKE_C_FLAGS='-fprofile-arcs -ftest-coverage'
if [ -z "${NO_TEST}" ];
then
    if [ ! -z "${PACKAGE_NAME}" ] && [ "$ROS_VERSION" == "1" ];
    then
      colcon build --packages-select $PACKAGE_NAME --cmake-target tests
    fi

    # run unit tests
    . ./install/setup.sh
    colcon test
    colcon test-result --all

    # get unit test code coverage result
    lcov --capture --directory . --output-file coverage.info
    lcov --remove coverage.info '/usr/*' --output-file coverage.info
    lcov --list coverage.info
    cd /"$ROS_DISTRO"_ws/
    mv coverage.info /shared
fi