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mertgulerxmertgulerx
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Add GitHub build and test actions
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‎.github/workflows/jazzy-build.yml‎

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name: Jazzy Build
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on:
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push:
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pull_request:
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workflow_dispatch:
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concurrency:
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group: jazzy-build-${{ github.ref }}
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cancel-in-progress: true
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permissions:
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contents: read
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jobs:
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build:
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runs-on: ubuntu-24.04
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container:
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image: ubuntu:noble
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defaults:
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run:
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shell: bash
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env:
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ROS_DISTRO: jazzy
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steps:
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- name: Checkout repository
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uses: actions/checkout@v4
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- name: Set up ROS 2 Jazzy
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uses: ros-tooling/setup-ros@v0.7
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with:
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required-ros-distributions: ${{ env.ROS_DISTRO }}
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- name: Install package dependencies
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run: |
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rosdep update
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rosdep install \
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--from-paths . frontier_exploration_ros2_rviz \
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--ignore-src \
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--rosdistro "$ROS_DISTRO" \
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-r \
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-y
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- name: Build core package
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run: |
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source /opt/ros/$ROS_DISTRO/setup.bash
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colcon build \
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--event-handlers console_direct+ \
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--build-base build-core \
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--install-base install \
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--packages-select frontier_exploration_ros2 \
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--cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo
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- name: Build RViz plugin package
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run: |
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source /opt/ros/$ROS_DISTRO/setup.bash
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source install/setup.bash
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colcon build \
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--event-handlers console_direct+ \
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--base-paths . frontier_exploration_ros2_rviz \
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--build-base build-all \
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--install-base install \
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--packages-select frontier_exploration_ros2_rviz \
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--cmake-args \
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-DCMAKE_BUILD_TYPE=RelWithDebInfo \
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-DPython3_EXECUTABLE=/usr/bin/python3

‎.github/workflows/jazzy-test.yml‎

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name: Jazzy Tests
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on:
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push:
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pull_request:
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workflow_dispatch:
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concurrency:
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group: jazzy-tests-${{ github.ref }}
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cancel-in-progress: true
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permissions:
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contents: read
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jobs:
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test:
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runs-on: ubuntu-24.04
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container:
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image: ubuntu:noble
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defaults:
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run:
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shell: bash
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env:
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ROS_DISTRO: jazzy
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steps:
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- name: Checkout repository
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uses: actions/checkout@v4
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- name: Set up ROS 2 Jazzy
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uses: ros-tooling/setup-ros@v0.7
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with:
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required-ros-distributions: ${{ env.ROS_DISTRO }}
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- name: Install package dependencies
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run: |
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rosdep update
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rosdep install \
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--from-paths . frontier_exploration_ros2_rviz \
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--ignore-src \
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--rosdistro "$ROS_DISTRO" \
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-r \
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-y
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- name: Build packages for testing
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run: |
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source /opt/ros/$ROS_DISTRO/setup.bash
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colcon build \
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--event-handlers console_direct+ \
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--build-base build-core \
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--install-base install \
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--test-result-base test-results \
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--packages-select frontier_exploration_ros2 \
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--cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo
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source install/setup.bash
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colcon build \
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--event-handlers console_direct+ \
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--base-paths . frontier_exploration_ros2_rviz \
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--build-base build-all \
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--install-base install \
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--test-result-base test-results \
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--packages-select frontier_exploration_ros2_rviz \
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--cmake-args \
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-DCMAKE_BUILD_TYPE=RelWithDebInfo \
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-DPython3_EXECUTABLE=/usr/bin/python3
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- name: Run tests
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run: |
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source /opt/ros/$ROS_DISTRO/setup.bash
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source install/setup.bash
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core_status=0
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rviz_status=0
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results_status=0
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colcon test \
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--event-handlers console_direct+ \
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--return-code-on-test-failure \
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--build-base build-core \
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--install-base install \
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--test-result-base test-results \
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--packages-select frontier_exploration_ros2 || core_status=$?
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colcon test \
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--event-handlers console_direct+ \
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--return-code-on-test-failure \
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--base-paths . frontier_exploration_ros2_rviz \
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--build-base build-all \
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--install-base install \
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--test-result-base test-results \
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--packages-select frontier_exploration_ros2_rviz || rviz_status=$?
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colcon test-result \
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--test-result-base test-results \
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--verbose || results_status=$?
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if (( core_status != 0 || rviz_status != 0 || results_status != 0 )); then
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exit 1
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fi
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- name: Upload test results
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if: always()
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uses: actions/upload-artifact@v4
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with:
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name: jazzy-test-results
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path: |
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test-results
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build-core/**/Testing/**/*.log
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build-all/**/Testing/**/*.log
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if-no-files-found: warn

‎test/test_preemption_flow.cpp‎

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Original file line numberDiff line numberDiff line change
@@ -205,9 +205,13 @@ TEST(PreemptionFlowTests, ReplacementDebounceTracksSelectedFrontierOnly)
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TEST(PreemptionFlowTests, BlockedGoalWithoutReplacementUsesExplicitCancel)
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{
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std::vector<std::string> info_logs;
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std::vector<std::string> debug_logs;
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auto core = make_preemption_core(&info_logs);
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auto fake_handle = std::make_shared<FakeGoalHandle>();
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core->goal_handle = fake_handle;
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core->callbacks.log_debug = [&debug_logs](const std::string & message) {
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debug_logs.push_back(message);
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};
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auto blocked_costmap = build_grid(20, 20, 0);
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set_cell(blocked_costmap, 1, 1, 100);
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core->consider_preempt_active_goal("map");
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EXPECT_EQ(fake_handle->cancel_calls, 1);
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ASSERT_FALSE(info_logs.empty());
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EXPECT_NE(info_logs.back().find("no replacement frontier is available"), std::string::npos);
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ASSERT_FALSE(debug_logs.empty());
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EXPECT_NE(debug_logs.back().find("no replacement frontier is available"), std::string::npos);
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}
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TEST(PreemptionFlowTests, BlockedGoalReplacementLogsSkipVerb)

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