From a689d573fb2c1a592bebb3f4121a492f655b6f34 Mon Sep 17 00:00:00 2001
From: 4c3y <69460051+4c3y@users.noreply.github.com>
Date: Tue, 20 Aug 2024 15:41:34 +0200
Subject: [PATCH 1/7] Added CI workflow

---
 .github/ubuntu20_04.yml | 53 +++++++++++++++++++++++++++++++++++++++++
 1 file changed, 53 insertions(+)
 create mode 100644 .github/ubuntu20_04.yml

diff --git a/.github/ubuntu20_04.yml b/.github/ubuntu20_04.yml
new file mode 100644
index 0000000..9a9f6fd
--- /dev/null
+++ b/.github/ubuntu20_04.yml
@@ -0,0 +1,53 @@
+name: mav_sensors
+on:
+  pull_request:
+    branches:
+      - "master"
+  push:
+    branches:
+      - "master"
+      - "feature/ci"
+
+jobs:
+  build:
+    runs-on: [self-hosted, linux]
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro: ['noetic']
+        gcc: ['8', '9', '10']
+      container: ros:${{ matrix.rosdistro }}-ros-base-focal
+      name: ROS ${{ matrix.rosdistro }} - GCC ${{ matrix.gcc }} - C++${{ matrix.cxx }}
+      steps:
+      - uses: actions/checkout@v4
+        name: Checkout lpp
+        with:
+          repository: ethz-asl/lpp
+          token: ${{ secrets.PAT }}
+          path: catkin_ws/src/lpp
+      - name: Install newest git version
+        run: sudo apt update && sudo apt-get install -y software-properties-common && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git
+
+      - name: Install GCC version ${{ matrix.gcc }}
+        run: sudo add-apt-repository ppa:ubuntu-toolchain-r/test -y && sudo apt update && sudo apt install -y gcc-${{ matrix.gcc }} g++-${{ matrix.gcc }} && sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-${{ matrix.gcc }} 100 --slave /usr/bin/g++ g++ /usr/bin/g++-${{ matrix.gcc }} && gcc --version && g++ --version
+
+      - name: Install catkin tools
+        run: sudo apt install -y python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential python3-catkin-tools
+
+      - name: Install system dependencies
+        run: sudo apt install -y libgoogle-glog-dev
+
+      - uses: actions/checkout@v4
+        name: Checkout mav_sensors
+        with:
+          repository: ethz-asl/mav_sensors
+          submodules: recursive
+          token: ${{ secrets.PAT }}
+          path: catkin_ws/src/mav_sensors
+
+      - name: Build mav_sensors
+        run: source /opt/ros/${{ matrix.rosdistro }}/setup.bash && catkin build mav_sensors && source ${GITHUB_WORKSPACE}/catkin_ws/devel/setup.bash
+
+
+
+

From 691c80d2e2ca8fc2ec34a3ee5b1466388fa432f4 Mon Sep 17 00:00:00 2001
From: 4c3y <69460051+4c3y@users.noreply.github.com>
Date: Tue, 20 Aug 2024 15:42:46 +0200
Subject: [PATCH 2/7] Move yml file to workflows folder

---
 .github/{ => workflows}/ubuntu20_04.yml | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename .github/{ => workflows}/ubuntu20_04.yml (100%)

diff --git a/.github/ubuntu20_04.yml b/.github/workflows/ubuntu20_04.yml
similarity index 100%
rename from .github/ubuntu20_04.yml
rename to .github/workflows/ubuntu20_04.yml

From 7ab381213cd2522cffe29a380815c8aa7ede0089 Mon Sep 17 00:00:00 2001
From: 4c3y <69460051+4c3y@users.noreply.github.com>
Date: Tue, 20 Aug 2024 15:46:25 +0200
Subject: [PATCH 3/7] Fix indents

---
 .github/workflows/ubuntu20_04.yml | 63 ++++++++++++++++---------------
 1 file changed, 32 insertions(+), 31 deletions(-)

diff --git a/.github/workflows/ubuntu20_04.yml b/.github/workflows/ubuntu20_04.yml
index 9a9f6fd..529ebea 100644
--- a/.github/workflows/ubuntu20_04.yml
+++ b/.github/workflows/ubuntu20_04.yml
@@ -16,37 +16,38 @@ jobs:
       matrix:
         rosdistro: ['noetic']
         gcc: ['8', '9', '10']
-      container: ros:${{ matrix.rosdistro }}-ros-base-focal
-      name: ROS ${{ matrix.rosdistro }} - GCC ${{ matrix.gcc }} - C++${{ matrix.cxx }}
-      steps:
-      - uses: actions/checkout@v4
-        name: Checkout lpp
-        with:
-          repository: ethz-asl/lpp
-          token: ${{ secrets.PAT }}
-          path: catkin_ws/src/lpp
-      - name: Install newest git version
-        run: sudo apt update && sudo apt-get install -y software-properties-common && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git
-
-      - name: Install GCC version ${{ matrix.gcc }}
-        run: sudo add-apt-repository ppa:ubuntu-toolchain-r/test -y && sudo apt update && sudo apt install -y gcc-${{ matrix.gcc }} g++-${{ matrix.gcc }} && sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-${{ matrix.gcc }} 100 --slave /usr/bin/g++ g++ /usr/bin/g++-${{ matrix.gcc }} && gcc --version && g++ --version
-
-      - name: Install catkin tools
-        run: sudo apt install -y python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential python3-catkin-tools
-
-      - name: Install system dependencies
-        run: sudo apt install -y libgoogle-glog-dev
-
-      - uses: actions/checkout@v4
-        name: Checkout mav_sensors
-        with:
-          repository: ethz-asl/mav_sensors
-          submodules: recursive
-          token: ${{ secrets.PAT }}
-          path: catkin_ws/src/mav_sensors
-
-      - name: Build mav_sensors
-        run: source /opt/ros/${{ matrix.rosdistro }}/setup.bash && catkin build mav_sensors && source ${GITHUB_WORKSPACE}/catkin_ws/devel/setup.bash
+    container: ros:${{ matrix.rosdistro }}-ros-base-focal
+    name: ROS ${{ matrix.rosdistro }} - GCC ${{ matrix.gcc }} - C++${{ matrix.cxx }}
+    steps:
+    - uses: actions/checkout@v4
+      name: Checkout lpp
+      with:
+        repository: ethz-asl/lpp
+        token: ${{ secrets.PAT }}
+        path: catkin_ws/src/lpp
+
+    - name: Install newest git version
+      run: sudo apt update && sudo apt-get install -y software-properties-common && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git
+
+    - name: Install GCC version ${{ matrix.gcc }}
+      run: sudo add-apt-repository ppa:ubuntu-toolchain-r/test -y && sudo apt update && sudo apt install -y gcc-${{ matrix.gcc }} g++-${{ matrix.gcc }} && sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-${{ matrix.gcc }} 100 --slave /usr/bin/g++ g++ /usr/bin/g++-${{ matrix.gcc }} && gcc --version && g++ --version
+
+    - name: Install catkin tools
+      run: sudo apt install -y python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential python3-catkin-tools
+
+    - name: Install system dependencies
+      run: sudo apt install -y libgoogle-glog-dev
+
+    - uses: actions/checkout@v4
+      name: Checkout mav_sensors
+      with:
+        repository: ethz-asl/mav_sensors
+        submodules: recursive
+        token: ${{ secrets.PAT }}
+        path: catkin_ws/src/mav_sensors
+
+    - name: Build mav_sensors
+      run: source /opt/ros/${{ matrix.rosdistro }}/setup.bash && catkin build mav_sensors && source ${GITHUB_WORKSPACE}/catkin_ws/devel/setup.bash
 
 
 

From cf94d40ff99ea3758c049c364f8d1613495b01bd Mon Sep 17 00:00:00 2001
From: 4c3y <69460051+4c3y@users.noreply.github.com>
Date: Tue, 20 Aug 2024 15:49:47 +0200
Subject: [PATCH 4/7] Use bash in build step and set working directory

---
 .github/workflows/ubuntu20_04.yml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/ubuntu20_04.yml b/.github/workflows/ubuntu20_04.yml
index 529ebea..590bc3c 100644
--- a/.github/workflows/ubuntu20_04.yml
+++ b/.github/workflows/ubuntu20_04.yml
@@ -48,7 +48,8 @@ jobs:
 
     - name: Build mav_sensors
       run: source /opt/ros/${{ matrix.rosdistro }}/setup.bash && catkin build mav_sensors && source ${GITHUB_WORKSPACE}/catkin_ws/devel/setup.bash
-
+      shell: bash
+      working-directory: catkin_ws
 
 
 

From e240f7738645b29c6b2158eba46b44e9867f4919 Mon Sep 17 00:00:00 2001
From: 4c3y <69460051+4c3y@users.noreply.github.com>
Date: Tue, 20 Aug 2024 15:51:56 +0200
Subject: [PATCH 5/7] Fix package name

---
 .github/workflows/ubuntu20_04.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/ubuntu20_04.yml b/.github/workflows/ubuntu20_04.yml
index 590bc3c..fce4c9e 100644
--- a/.github/workflows/ubuntu20_04.yml
+++ b/.github/workflows/ubuntu20_04.yml
@@ -47,7 +47,7 @@ jobs:
         path: catkin_ws/src/mav_sensors
 
     - name: Build mav_sensors
-      run: source /opt/ros/${{ matrix.rosdistro }}/setup.bash && catkin build mav_sensors && source ${GITHUB_WORKSPACE}/catkin_ws/devel/setup.bash
+      run: source /opt/ros/${{ matrix.rosdistro }}/setup.bash && catkin build mav_sensors_demo && source ${GITHUB_WORKSPACE}/catkin_ws/devel/setup.bash
       shell: bash
       working-directory: catkin_ws
 

From 969ab9cf629c9537d2b7d14706395b1a26719ad0 Mon Sep 17 00:00:00 2001
From: 4c3y <69460051+4c3y@users.noreply.github.com>
Date: Tue, 20 Aug 2024 15:55:03 +0200
Subject: [PATCH 6/7] Fix matrix build name

---
 .github/workflows/ubuntu20_04.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/ubuntu20_04.yml b/.github/workflows/ubuntu20_04.yml
index fce4c9e..3c91d49 100644
--- a/.github/workflows/ubuntu20_04.yml
+++ b/.github/workflows/ubuntu20_04.yml
@@ -17,7 +17,7 @@ jobs:
         rosdistro: ['noetic']
         gcc: ['8', '9', '10']
     container: ros:${{ matrix.rosdistro }}-ros-base-focal
-    name: ROS ${{ matrix.rosdistro }} - GCC ${{ matrix.gcc }} - C++${{ matrix.cxx }}
+    name: ROS ${{ matrix.rosdistro }} - GCC ${{ matrix.gcc }}
     steps:
     - uses: actions/checkout@v4
       name: Checkout lpp

From 1a60562d9a3833b186b80e635b5ee421bfe7a6fa Mon Sep 17 00:00:00 2001
From: 4c3y <69460051+4c3y@users.noreply.github.com>
Date: Tue, 20 Aug 2024 15:56:18 +0200
Subject: [PATCH 7/7] Remove feature/ci branch in workflow

---
 .github/workflows/ubuntu20_04.yml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/.github/workflows/ubuntu20_04.yml b/.github/workflows/ubuntu20_04.yml
index 3c91d49..df2bb4e 100644
--- a/.github/workflows/ubuntu20_04.yml
+++ b/.github/workflows/ubuntu20_04.yml
@@ -6,7 +6,6 @@ on:
   push:
     branches:
       - "master"
-      - "feature/ci"
 
 jobs:
   build: