Setup CodeQL

.github/workflows/codeql-analyze.yaml

@@ -0,0 +1,54 @@
+name: "CodeQL"
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+  schedule:
+    - cron: '0 0 * * 0'
+
+jobs:
+  analyze:
+    name: Analyze
+    runs-on: ubuntu-20.04
+    permissions:
+      contents: read
+      pull-requests: write
+
+    strategy:
+      fail-fast: false
+      matrix:
+        language: [ 'cpp' ]
+
+    steps:
+    - name: Checkout repository
+      uses: actions/checkout@v4
+      with:
+        submodules: true
+        path: src/ouster-ros
+
+    - name: Set up ROS
+      run: |
+        sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+        sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+        sudo apt update
+        sudo apt install -y ros-noetic-desktop-full python3-rosdep
+        sudo rosdep init
+        rosdep update
+        rosdep install --from-paths src --ignore-src -r -y
+        source /opt/ros/noetic/setup.bash
+
+    - name: Initialize CodeQL
+      uses: github/codeql-action/init@v3
+      with:
+        languages: ${{ matrix.language }}
+
+    - name: Build with catkin
+      run: |
+        source /opt/ros/noetic/setup.bash
+        catkin_make --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+    - name: Perform CodeQL Analysis
+      uses: github/codeql-action/analyze@v3

.github/workflows/docker-image.yml

@@ -11,6 +11,9 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      pull-requests: write
     strategy:
       fail-fast: false
       matrix: