combine #29

	name: URDF transform
	on:
	push:
	branches:
	- '**'
	pull_request:
	branches:
	- '**'

	jobs:
	build:
	runs-on: ubuntu-latest
	container:
	image: ros:humble-ros-base
	options: --workdir /github/home/ws
	steps:
	- name: Create working directory
	run: mkdir -p /github/home/ws/src

	- name: Check out repository
	uses: actions/checkout@v2
	with:
	path: src/kuka_robot_descriptions

	- name: Install colcon
	run: \|
	apt update
	apt install -y ros-humble-xacro

	- name: Build support packages
	run: \|
	source /opt/ros/humble/setup.bash
	colcon build --packages-ignore kuka_mock_hardware_interface kuka_kr_moveit_config kuka_lbr_iisy_moveit_config kuka_lbr_iiwa_moveit_config
	shell: bash

	- name: List .urdf.xacro files
	run: \|
	files=$(find src -name "*.urdf.xacro")
	echo $files
	for file in $files
	do
	echo $file
	filename=$(basename -- "$file")
	filename="${filename%.*}"
	xacro $file > urdf_out/${filename}.urdf
	done

	# - name: Generate URDF files
	# run: \|
	# source /opt/ros/humble/setup.bash
	# source install/setup.bash
	# mkdir -p urdf_out
	# for file in $files
	# do
	# echo $file
	# filename=$(basename -- "$file")
	# filename="${filename%.*}"
	# xacro $file > urdf_out/${filename}.urdf
	# done
	# shell: bash

	- name: Upload URDF output directory as artifact
	uses: actions/upload-artifact@v2
	with:
	name: urdf-artifact
	path: urdf_out

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