Codeql analysis

.github/workflows/codeql.yaml

@@ -0,0 +1,66 @@
+name: CodeQL
+
+on:
+  push:
+    branches: [master]
+  pull_request:
+    branches: [master]
+  schedule:
+    #        ┌───────────── minute (0 - 59)
+    #        │  ┌───────────── hour (0 - 23)
+    #        │  │ ┌───────────── day of the month (1 - 31)
+    #        │  │ │ ┌───────────── month (1 - 12 or JAN-DEC)
+    #        │  │ │ │ ┌───────────── day of the week (0 - 6 or SUN-SAT)
+    #        │  │ │ │ │
+    #        │  │ │ │ │
+    #        │  │ │ │ │
+    #        *  * * * *
+    - cron: '30 1 * * 0'
+  workflow_dispatch:
+
+jobs:
+  CodeQL-Build:
+    # CodeQL runs on ubuntu-latest, windows-latest, and macos-latest
+    runs-on: ubuntu-22.04
+
+    permissions:
+      # required for all workflows
+      security-events: write
+
+      # only required for workflows in private repositories
+      # actions: read
+      # contents: read
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@2541b1294d2704b0964813337f33b291d3f8596b # tag=v3
+
+      # Initializes the CodeQL tools for scanning.
+      - name: Initialize CodeQL
+        uses: github/codeql-action/init@3f62b754e23e0dd60f91b744033e1dc1654c0ec6 # tag=v2
+        # Override language selection by uncommenting this and choosing your languages
+        with:
+          languages: cpp
+        #   languages: go, javascript, csharp, python, cpp, java
+
+      - name: Install PCL
+        run: sudo apt-get update && sudo apt-get install libpcl-dev
+
+      # Autobuild attempts to build any compiled languages (C/C++, C#, or Java).
+      # If this step fails, then you should remove it and run the build manually (see below).
+      - name: Autobuild
+        uses: github/codeql-action/autobuild@3f62b754e23e0dd60f91b744033e1dc1654c0ec6 # tag=v2
+
+      # ℹ️ Command-line programs to run using the OS shell.
+      # 📚 https://git.io/JvXDl
+
+      # ✏️ If the Autobuild fails above, remove it and uncomment the following
+      #    three lines and modify them (or add more) to build your code if your
+      #    project uses a compiled language
+
+      #- run: |
+      #     make bootstrap
+      #     make release
+
+      - name: Perform CodeQL Analysis
+        uses: github/codeql-action/analyze@3f62b754e23e0dd60f91b744033e1dc1654c0ec6 # tag=v2