changes #42

	name: CI

	on: [push, pull_request]

	jobs:
	build:
	runs-on: ubuntu-latest

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

	- name: Set up Python 3.10
	uses: actions/setup-python@v2
	with:
	python-version: 3.10

	- name: Set up ROS 2 Humble
	run: \|
	sudo apt update
	sudo apt install -y curl gnupg2 lsb-release
	sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc \| sudo apt-key add -
	sudo sh -c 'echo "deb http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
	sudo apt update
	sudo apt install -y ros-humble-desktop
	echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
	source ~/.bashrc

	- name: Install ROS 2 dependencies
	run: \|
	source /opt/ros/humble/setup.bash
	sudo apt install -y ros-humble-executive-smach ros-humble-rclpy ros-humble-geometry-msgs ros-humble-std-msgs ros-humble-sensor-msgs

	- name: Install Python dependencies
	run: \|
	source /opt/ros/humble/setup.bash
	python3 -m venv venv
	source venv/bin/activate
	python -m pip install --upgrade pip
	pip install pyyaml # Install pyyaml to handle YAML files
	pip install lark-parser # Install lark module for parsing
	pip install numpy # Install numpy for scientific computing
	pip install git+https://github.com/splintered-reality/py_trees.git
	pip install git+https://github.com/splintered-reality/py_trees_ros.git
	pip install -r requirements.txt

	- name: Run tests
	run: \|
	source /opt/ros/humble/setup.bash
	source venv/bin/activate
	pytest tests/

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