CI without docker POC #216

	name: CI

	on:
	workflow_dispatch:
	inputs:
	name:
	description: "Manual trigger"
	pull_request:
	branches: ["rolling", "kilted", "jazzy", "humble"]

	jobs:

	micro_ros_zephyr_module:
	runs-on: ubuntu-latest
	strategy:
	fail-fast: false
	matrix:
	zephyr_version: ["v4.0.0", "v4.1.0"]
	steps:
	- uses: actions/checkout@v4
	with:
	path: micro_ros_zephyr_module

	- name: Free disk space
	run: \|
	sudo rm -rf /usr/share/dotnet
	sudo rm -rf /usr/local/lib/android
	sudo rm -rf /opt/ghc
	sudo docker image prune --all --force

	- name: Build
	uses: addnab/docker-run-action@v3
	with:
	image: zephyrprojectrtos/ci:v0.26.17
	options: --user root -v ${{ github.workspace }}:/github/workspace -w /github/workspace -e CMAKE_PREFIX_PATH=/opt/toolchains
	run: \|
	# Zephyr setup
	apt -y update
	west init
	cd zephyr
	git checkout ${{ matrix.zephyr_version }}
	cd ..
	west update --narrow

	# Installing micro-ROS prerequisites
	pip3 install catkin_pkg lark-parser empy colcon-common-extensions

	if [[ ${{ github.ref_name }} == "humble" ]] \|\| [[ ${{ github.head_ref }} == "humble" ]]; then
	# Use empy version 3.3.4 for Humble
	pip3 install empy==3.3.4
	fi

	# Build with Serial USB transport
	west build -b disco_l475_iot1 /github/workspace/micro_ros_zephyr_module -p -- -DCONFIG_MICROROS_TRANSPORT_SERIAL_USB=y

	# Build with Serial transport
	west build -b disco_l475_iot1 /github/workspace/micro_ros_zephyr_module -p -- -DCONFIG_MICROROS_TRANSPORT_SERIAL=y

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