Add an unittest environment for hardware class. (#32) #192

	name: BuildAndTest

	on:
	push:
	branches:
	- main
	paths-ignore:
	- '**.md'
	pull_request:
	branches:
	- main
	paths-ignore:
	- '**.md'
	schedule:
	- cron: "0 2 * * 0" # Weekly on Sundays at 02:00

	jobs:
	lint:
	runs-on: ubuntu-latest
	steps:
	- uses: actions/setup-python@v4
	with:
	python-version: '3.8'
	- run: pip install cpplint
	- uses: actions/checkout@v4
	- run: .tools/cpplint.bash

	build_and_test:
	needs: lint
	strategy:
	fail-fast: false # 他のjobが失敗してもキャンセルしない
	matrix:
	os: [ubuntu-20.04, ubuntu-22.04]
	runs-on: ${{ matrix.os}}
	steps:
	- name: Install Dynamixel SDK
	run: \|
	cd ..
	git clone https://github.com/ROBOTIS-GIT/DynamixelSDK.git
	cd DynamixelSDK/c++/build/linux64
	make
	sudo make install
	- name: Install GoogleTest
	run: \|
	cd ..
	curl -OL https://github.com/google/googletest/archive/release-1.11.0.tar.gz
	tar -xvf release-1.11.0.tar.gz
	mkdir googletest-release-1.11.0/build
	cd googletest-release-1.11.0/build
	cmake ..
	sudo make install
	- name: Install dependencies
	run: sudo apt install libyaml-cpp-dev libeigen3-dev
	- uses: actions/checkout@v4
	- name: Build and insall library
	run: ./rt_manipulators_lib/build_install_library.bash
	- name: Build Samples
	run: \|
	./samples/samples01/build_samples.bash
	./samples/samples02/build_samples.bash
	./samples/samples03/build_samples.bash
	- name: Test library
	run: ./rt_manipulators_lib/run_test_library.bash
	- name: Test Samples
	run: ./samples/samples03/run_test.bash

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