Use perform_action instead of dock() for cleaning tasks #947

	name: build
	on:
	pull_request:

	jobs:
	build:
	runs-on: ubuntu-latest
	strategy:
	matrix:
	docker_image: ['ros:humble-ros-base']
	container:
	image: ${{ matrix.docker_image }}
	steps:
	- name: non-ros-deps
	run: \|
	sudo apt update
	sudo apt install -y wget
	sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
	wget https://packages.osrfoundation.org/gazebo.key -O - \| apt-key add -
	sudo apt update && sudo apt install \
	git cmake python3-vcstool curl \
	clang clang-tools lld \
	python3-shapely python3-yaml python3-requests \
	python3-pip -y
	pip3 install flask-socketio fastapi uvicorn
	- name: create-ws
	run: \|
	mkdir -p rmf_demos_ws/src
	- name: checkout # This will check out the current rmf_demos branch for build tests
	uses: actions/checkout@v2
	with:
	path: rmf_demos_ws/src/demonstrations/rmf_demos/
	- name: workspace
	run: \|
	cd rmf_demos_ws
	wget https://raw.githubusercontent.com/open-rmf/rmf/main/rmf.repos
	vcs import src < rmf.repos --skip-existing
	- name: ros-deps
	run: \|
	export DEBIAN_FRONTEND=noninteractive
	colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
	colcon mixin update default
	cd rmf_demos_ws
	rosdep update
	rosdep install --from-paths src --ignore-src --rosdistro humble -yr
	- name: build
	shell: bash
	run: \|
	cd rmf_demos_ws
	source /opt/ros/humble/setup.bash
	export CXX=clang++
	export CX=clang
	colcon build --mixin lld --cmake-args -DNO_DOWNLOAD_MODELS=True

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