From 3cfb398cb9ca531c53814fe4a45e6a45c49d4a8a Mon Sep 17 00:00:00 2001
From: Patrick Geneva <pgeneva@udel.edu>
Date: Mon, 13 Dec 2021 11:52:31 -0500
Subject: [PATCH] update .github ci

---
 .github/workflows/build_ros1.yml | 18 ++++++++++++++----
 1 file changed, 14 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/build_ros1.yml b/.github/workflows/build_ros1.yml
index 1787bea35..f1b7e1d55 100644
--- a/.github/workflows/build_ros1.yml
+++ b/.github/workflows/build_ros1.yml
@@ -10,10 +10,20 @@ jobs:
     name: "ROS1 Ubuntu 16.04"
     runs-on: ubuntu-latest
     steps:
-      - name: Build docker image
-        run: docker build -t local < Dockerfile_ros1_16_04
-      - name: Run build
-        run: docker run -it -v $PWD:/catkin_ws/src -w/catkin_ws catkin build
+      - name: Code checkout
+        uses: actions/checkout@v2
+      - name: Create Workspace and Docker Image
+        run: |
+          export REPO=$(basename $GITHUB_REPOSITORY) &&
+          cd $GITHUB_WORKSPACE/.. && mkdir src/ &&
+          mv $REPO/ src/ && mkdir $REPO/ && mv src/ $REPO/ && cd $REPO/ &&
+          docker build -t openvins -f $GITHUB_WORKSPACE/src/$REPO/Dockerfile_ros1_16_04 .
+      - name: Run Build in Docker
+        run: |
+          docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && catkin build"
+      - name: Run OpenVINS Simulation!
+        run: |
+          docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && source devel/setup.bash && roslaunch ov_msckf simulation.launch"
 
 
 #    runs-on: ${{ matrix.os }}