Update stack to cpp20 and cleanup legacy makefile commands #26

	name: Full Install & Build Tests

	on:
	push:
	branches:
	- main
	pull_request:
	branches:
	- '**'
	types: [opened, synchronize, reopened]
	merge_group:
	branches:
	- main

	jobs:
	build:
	runs-on: ubuntu-latest
	timeout-minutes: 180
	strategy:
	matrix:
	container:
	- "ros:jazzy"
	container: ${{ matrix.container }}

	steps:
	- name: Checkout repository
	uses: actions/checkout@v3

	- name: Cache APT packages
	uses: actions/cache@v3
	with:
	path: /var/cache/apt
	key: ${{ runner.os }}-apt-${{ hashFiles('dependencies.txt') }}
	restore-keys: \|
	${{ runner.os }}-apt-

	- name: Install Base Dependencies
	run: \|
	sudo apt-get update && sudo apt-get upgrade -y
	sudo apt-get update && apt-get install -y --no-install-recommends \
	curl gnupg2 lsb-release software-properties-common \
	locales \
	git \
	x11-apps \
	mesa-utils \
	gettext-base

	- name: Install Project Dependencies
	run: \|
	envsubst < dependencies.txt \| xargs sudo apt-get install -y --no-install-recommends

	- name: Initialize submodules
	run: \|
	git config --global --add safe.directory $GITHUB_WORKSPACE
	git submodule update --init --recursive

	- name: Cache Build Artifacts
	uses: actions/cache@v3
	with:
	path: build/
	key: ${{ runner.os }}-build-${{ hashFiles('**/CMakeLists.txt') }}
	restore-keys: \|
	${{ runner.os }}-build-

	- name: Build All
	run: \|
	make build-all

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