Merge pull request #102 from cactusdynamics/ros-ci

ROS CI setup

.github/workflows/main.yml

@@ -1,4 +1,10 @@
-on: [push]
+on:
+ push:
+ branches:
+ - master
+ pull_request:
+ branches:
+ - master
 
 name: cactus-rt
 
@@ -53,3 +59,13 @@ jobs:
 
  # - name: Run example
  # run: docker/scripts/04-example.sh
+
+ build-and-test-ros:
+ runs-on: [self-hosted, noble, real-time]
+ env:
+ image_name: ${{ github.workflow }}-ci-${{ github.ref_name }}
+ steps:
+ - uses: actions/checkout@v3
+
+ - name: Test ROS in docker
+ run: scripts/test-ros-in-docker

docker/Dockerfile

@@ -1,4 +1,6 @@
-FROM ubuntu:noble
+ARG base_image=ubuntu:noble
+
+FROM ${base_image}
 
 RUN set -xe; \
  export DEBIAN_FRONTEND=noninteractive; \

docker/scripts/run-ros2.sh

@@ -0,0 +1,8 @@
+#!/bin/bash
+
+export WORKSPACE_DIR=/workspace
+
+set -xe
+
+cd $WORKSPACE_DIR
+colcon build --cmake-args "-DENABLE_CLANG_TIDY=ON"

scripts/test-ros-in-docker

@@ -0,0 +1,12 @@
+#!/bin/bash
+
+IMAGE_NAME=cactus-rt-ros2-test
+
+cd docker
+docker build --build-arg base_image=ros:jazzy-ros-base-noble . -t $IMAGE_NAME
+cd ..
+docker run --rm \
+ -v $(pwd):/workspace/src/cactus-rt \
+ $IMAGE_NAME \
+ -- \
+ "/workspace/src/cactus-rt/docker/scripts/run-ros2.sh"

src/cactus_rt/ros2/ros2_adapter.cc

@@ -16,7 +16,7 @@ void Ros2Adapter::TimerCallback() {
 }
 
 void Ros2Adapter::DrainQueues() {
- std::scoped_lock lock(mut_);
+ const std::scoped_lock lock(mut_);
 
  for (const auto& publisher : publishers_) {
  // Hopefully the thread is not publishing so quickly that a single