Complete local planner implementation #330

	name: Build for Ubuntu 20.04 and ROS noetic

	on: [push, pull_request]

	jobs:
	build:
	runs-on: ubuntu-latest

	container:
	image: ros:noetic

	defaults:
	run:
	shell: bash -leo pipefail {0}

	steps:
	- name: Create catkin workspace
	run:
	mkdir $GITHUB_WORKSPACE/catkin_ws/src -p ;
	cd $GITHUB_WORKSPACE/catkin_ws;
	source /opt/ros/noetic/setup.bash;
	catkin_make;

	- name: Checkout code
	uses: actions/checkout@v2
	with:
	fetch-depth: 0
	path: catkin_ws/src/

	- name: Initialize CodeQL
	uses: github/codeql-action/init@v1
	with:
	languages: cpp

	- name: Build package
	run: \|
	export DEBIAN_FRONTEND=noninteractive
	cd $GITHUB_WORKSPACE/catkin_ws;
	source /opt/ros/noetic/setup.bash;
	apt update && rosdep update && rosdep install --from-paths src/ -y -r;
	catkin_make;

	- name: Perform CodeQL Analysis
	uses: github/codeql-action/analyze@v1
	with:
	path: catkin_ws/src/

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