Jazzy

.github/workflows/humble.yaml

@@ -0,0 +1,48 @@
+name: humble
+
+on:
+  pull_request:
+    branches:
+      - humble
+  push:
+    branches:
+      - humble
+jobs:
+  build-and-test:
+    runs-on: ubuntu-22.04
+    container:
+      image: ubuntu:jammy
+    steps:
+      - name: Repo checkout
+        uses: actions/checkout@v4
+        with:
+          ref: humble
+      - name: Setup ROS 2
+        uses: ros-tooling/setup-ros@0.7.15
+      - name: build and test
+        uses: ros-tooling/action-ros-ci@0.4.5
+        with:
+          package-name: easynav_common easynav_controller easynav_core easynav_interfaces easynav_localizer easynav_maps_manager easynav_planner easynav_sensors easynav_support_py easynav_system easynav_tools easynav_bonxai_maps_manager easynav_costmap_common easynav_costmap_localizer easynav_costmap_maps_manager easynav_costmap_planner easynav_gps_localizer easynav_mppi_controller easynav_navmap_localizer easynav_navmap_maps_manager easynav_navmap_planner easynav_serest_controller easynav_simple_common easynav_simple_controller easynav_simple_localizer easynav_simple_maps_manager easynav_simple_planner easynav_vff_controller
+          target-ros2-distro: humble
+          vcs-repo-file-url: ${GITHUB_WORKSPACE}/.github/thirdparty.repos
+          skip-tests: false
+          colcon-defaults: |
+            {
+              "build": {
+                "packages-up-to": true,
+                "mixin": ["coverage-gcc"]
+              },
+              "test": {
+                "parallel-workers" : 1
+              }
+            }
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+
+      - name: Codecov
+        uses: codecov/codecov-action@v5.4.0
+        with:
+          files: ros_ws/lcov/total_coverage.info
+          flags: unittests
+          name: codecov-umbrella
+          # yml: ./codecov.yml
+          fail_ci_if_error: false

.github/workflows/humble_cron.yaml

@@ -0,0 +1,45 @@
+name: humble
+
+on:
+  schedule:
+      - cron: '0 0 * * 6'     
+jobs:
+  build-and-test:
+    runs-on: ubuntu-22.04
+    container:
+      image: ubuntu:jammy
+    steps:
+      - name: Repo checkout
+        uses: actions/checkout@v4
+        with:
+          ref: humble
+      - name: Setup ROS 2
+        uses: ros-tooling/setup-ros@0.7.15
+      - name: build and test
+        uses: ros-tooling/action-ros-ci@0.4.5
+        with:
+          package-name: easynav_common easynav_controller easynav_core easynav_interfaces easynav_localizer easynav_maps_manager easynav_planner easynav_sensors easynav_support_py easynav_system easynav_tools easynav_bonxai_maps_manager easynav_costmap_common easynav_costmap_localizer easynav_costmap_maps_manager easynav_costmap_planner easynav_gps_localizer easynav_mppi_controller easynav_navmap_localizer easynav_navmap_maps_manager easynav_navmap_planner easynav_serest_controller easynav_simple_common easynav_simple_controller easynav_simple_localizer easynav_simple_maps_manager easynav_simple_planner easynav_vff_controller
+          target-ros2-distro: humble
+          ref: humble
+          vcs-repo-file-url: ${GITHUB_WORKSPACE}/.github/thirdparty.repos
+          skip-tests: false
+          colcon-defaults: |
+            {
+              "build": {
+                "packages-up-to": true,
+                "mixin": ["coverage-gcc"]
+              },
+              "test": {
+                "parallel-workers" : 1
+              }
+            }
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+
+      - name: Codecov
+        uses: codecov/codecov-action@v5.4.0
+        with:
+          files: ros_ws/lcov/total_coverage.info
+          flags: unittests
+          name: codecov-umbrella
+          # yml: ./codecov.yml
+          fail_ci_if_error: false

.github/workflows/jazzy.yaml

@@ -11,28 +11,22 @@ on:
       - cron: '0 0 * * 6'     
 jobs:
   build-and-test:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      matrix:
-        os: [ubuntu-24.04]
-      fail-fast: false
+    runs-on: ubuntu-24.04
+    container:
+      image: ubuntu:noble
     steps:
       - name: Repo checkout
         uses: actions/checkout@v4
         with:
           ref: jazzy
       - name: Setup ROS 2
         uses: ros-tooling/setup-ros@0.7.15
-        with:
-          required-ros-distributions: jazzy
-
       - name: build and test
         uses: ros-tooling/action-ros-ci@0.4.5
         with:
-          package-name: easynav_common easynav_controller easynav_core easynav_interfaces easynav_localizer easynav_maps_manager easynav_planner easynav_sensors easynav_support_py easynav_system easynav_tools easynav_bonxai_maps_manager easynav_costmap_common easynav_costmap_localizer easynav_costmap_maps_manager easynav_costmap_planner easynav_gps_localizer easynav_mppi_controller easynav_navmap_localizer easynav_navmap_maps_manager easynav_navmap_planner easynav_serest_controller easynav_simple_common easynav_simple_controller easynav_simple_localizer easynav_simple_maps_manager easynav_simple_planner easynav_vff_controller
+          package-name: easynav_bonxai_maps_manager easynav_costmap_common easynav_costmap_localizer easynav_costmap_maps_manager easynav_costmap_planner easynav_gps_localizer easynav_fusion_localizer easynav_mppi_controller easynav_navmap_localizer easynav_navmap_maps_manager easynav_navmap_planner easynav_serest_controller easynav_simple_common easynav_simple_controller easynav_simple_localizer easynav_simple_maps_manager easynav_simple_planner easynav_vff_controller easynav_mpc_controller
           target-ros2-distro: jazzy
-          vcs-repo-file-url: ${GITHUB_WORKSPACE}/.github/thirdparty.repos
-          skip-tests: true
+          skip-tests: false
           colcon-defaults: |
             {
               "build": {

.github/workflows/jazzy_cron.yaml

@@ -0,0 +1,43 @@
+name: jazzy
+
+on:
+  schedule:
+      - cron: '0 0 * * 6'     
+jobs:
+  build-and-test:
+    runs-on: ubuntu-24.04
+    container:
+      image: ubuntu:noble
+    steps:
+      - name: Repo checkout
+        uses: actions/checkout@v4
+        with:
+          ref: jazzy
+      - name: Setup ROS 2
+        uses: ros-tooling/setup-ros@0.7.15
+      - name: build and test
+        uses: ros-tooling/action-ros-ci@0.4.5
+        with:
+          package-name: easynav_bonxai_maps_manager easynav_costmap_common easynav_costmap_localizer easynav_costmap_maps_manager easynav_costmap_planner easynav_gps_localizer easynav_fusion_localizer easynav_mppi_controller easynav_navmap_localizer easynav_navmap_maps_manager easynav_navmap_planner easynav_serest_controller easynav_simple_common easynav_simple_controller easynav_simple_localizer easynav_simple_maps_manager easynav_simple_planner easynav_vff_controller easynav_mpc_controller
+          target-ros2-distro: jazzy
+          skip-tests: false
+          colcon-defaults: |
+            {
+              "build": {
+                "packages-up-to": true,
+                "mixin": ["coverage-gcc"]
+              },
+              "test": {
+                "parallel-workers" : 1
+              }
+            }
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+
+      - name: Codecov
+        uses: codecov/codecov-action@v5.4.0
+        with:
+          files: ros_ws/lcov/total_coverage.info
+          flags: unittests
+          name: codecov-umbrella
+          # yml: ./codecov.yml
+          fail_ci_if_error: false

.github/workflows/kilted.yaml

@@ -7,32 +7,24 @@ on:
   push:
     branches:
       - kilted
-  schedule:
-      - cron: '0 0 * * 6'     
 jobs:
   build-and-test:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      matrix:
-        os: [ubuntu-24.04]
-      fail-fast: false
+    runs-on: ubuntu-24.04
+    container:
+      image: ubuntu:noble
     steps:
       - name: Repo checkout
         uses: actions/checkout@v4
         with:
           ref: kilted
       - name: Setup ROS 2
         uses: ros-tooling/setup-ros@0.7.15
-        with:
-          required-ros-distributions: kilted
-
       - name: build and test
         uses: ros-tooling/action-ros-ci@0.4.5
         with:
-          package-name: easynav_common easynav_controller easynav_core easynav_interfaces easynav_localizer easynav_maps_manager easynav_planner easynav_sensors easynav_support_py easynav_system easynav_tools easynav_bonxai_maps_manager easynav_costmap_common easynav_costmap_localizer easynav_costmap_maps_manager easynav_costmap_planner easynav_gps_localizer easynav_mppi_controller easynav_navmap_localizer easynav_navmap_maps_manager easynav_navmap_planner easynav_serest_controller easynav_simple_common easynav_simple_controller easynav_simple_localizer easynav_simple_maps_manager easynav_simple_planner easynav_vff_controller
+          package-name: easynav_bonxai_maps_manager easynav_costmap_common easynav_costmap_localizer easynav_costmap_maps_manager easynav_costmap_planner easynav_gps_localizer easynav_fusion_localizer easynav_mppi_controller easynav_navmap_localizer easynav_navmap_maps_manager easynav_navmap_planner easynav_serest_controller easynav_simple_common easynav_simple_controller easynav_simple_localizer easynav_simple_maps_manager easynav_simple_planner easynav_vff_controller easynav_mpc_controller
           target-ros2-distro: kilted
-          vcs-repo-file-url: ${GITHUB_WORKSPACE}/.github/thirdparty.repos
-          skip-tests: true
+          skip-tests: false
           colcon-defaults: |
             {
               "build": {

.github/workflows/kilted_cron.yaml

@@ -0,0 +1,43 @@
+name: kilted
+
+on:
+  schedule:
+      - cron: '0 0 * * 6'     
+jobs:
+  build-and-test:
+    runs-on: ubuntu-24.04
+    container:
+      image: ubuntu:noble
+    steps:
+      - name: Repo checkout
+        uses: actions/checkout@v4
+        with:
+          ref: kilted
+      - name: Setup ROS 2
+        uses: ros-tooling/setup-ros@0.7.15
+      - name: build and test
+        uses: ros-tooling/action-ros-ci@0.4.5
+        with:
+          package-name: easynav_bonxai_maps_manager easynav_costmap_common easynav_costmap_localizer easynav_costmap_maps_manager easynav_costmap_planner easynav_gps_localizer easynav_fusion_localizer easynav_mppi_controller easynav_navmap_localizer easynav_navmap_maps_manager easynav_navmap_planner easynav_serest_controller easynav_simple_common easynav_simple_controller easynav_simple_localizer easynav_simple_maps_manager easynav_simple_planner easynav_vff_controller easynav_mpc_controller
+          target-ros2-distro: kilted
+          skip-tests: false
+          colcon-defaults: |
+            {
+              "build": {
+                "packages-up-to": true,
+                "mixin": ["coverage-gcc"]
+              },
+              "test": {
+                "parallel-workers" : 1
+              }
+            }
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+
+      - name: Codecov
+        uses: codecov/codecov-action@v5.4.0
+        with:
+          files: ros_ws/lcov/total_coverage.info
+          flags: unittests
+          name: codecov-umbrella
+          # yml: ./codecov.yml
+          fail_ci_if_error: false

.github/workflows/rolling.yaml

@@ -7,32 +7,25 @@ on:
   push:
     branches:
       - rolling
-  schedule:
-      - cron: '0 0 * * 6'     
 jobs:
   build-and-test:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      matrix:
-        os: [ubuntu-24.04]
-      fail-fast: false
+    runs-on: ubuntu-24.04
+    container:
+      image: ubuntu:noble
     steps:
       - name: Repo checkout
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6-beta
         with:
           ref: rolling
       - name: Setup ROS 2
         uses: ros-tooling/setup-ros@0.7.15
-        with:
-          required-ros-distributions: rolling
-
       - name: build and test
         uses: ros-tooling/action-ros-ci@0.4.5
         with:
-          package-name: easynav_common easynav_controller easynav_core easynav_interfaces easynav_localizer easynav_maps_manager easynav_planner easynav_sensors easynav_support_py easynav_system easynav_tools easynav_bonxai_maps_manager easynav_costmap_common easynav_costmap_localizer easynav_costmap_maps_manager easynav_costmap_planner easynav_gps_localizer easynav_mppi_controller easynav_navmap_localizer easynav_navmap_maps_manager easynav_navmap_planner easynav_serest_controller easynav_simple_common easynav_simple_controller easynav_simple_localizer easynav_simple_maps_manager easynav_simple_planner easynav_vff_controller
+          package-name: easynav_common easynav_controller easynav_core easynav_interfaces easynav_localizer easynav_maps_manager easynav_planner easynav_sensors easynav_support_py easynav_system easynav_tools easynav_bonxai_maps_manager easynav_costmap_common easynav_costmap_localizer easynav_costmap_maps_manager easynav_costmap_planner easynav_gps_localizer easynav_fusion_localizer easynav_mppi_controller easynav_navmap_localizer easynav_navmap_maps_manager easynav_navmap_planner easynav_serest_controller easynav_simple_common easynav_simple_controller easynav_simple_localizer easynav_simple_maps_manager easynav_simple_planner easynav_vff_controller easynav_mpc_controller
           target-ros2-distro: rolling
           vcs-repo-file-url: ${GITHUB_WORKSPACE}/.github/thirdparty.repos
-          skip-tests: true
+          skip-tests: false
           colcon-defaults: |
             {
               "build": {

.github/workflows/rolling_cron.yaml

@@ -0,0 +1,45 @@
+name: rolling
+
+on:
+  schedule:
+      - cron: '0 0 * * 6'     
+jobs:
+  build-and-test:
+    runs-on: ubuntu-24.04
+    container:
+      image: ubuntu:noble
+    steps:
+      - name: Repo checkout
+        uses: actions/checkout@v6-beta
+        with:
+          ref: rolling
+      - name: Setup ROS 2
+        uses: ros-tooling/setup-ros@0.7.15
+      - name: build and test
+        uses: ros-tooling/action-ros-ci@0.4.5
+        with:
+          package-name: easynav_common easynav_controller easynav_core easynav_interfaces easynav_localizer easynav_maps_manager easynav_planner easynav_sensors easynav_support_py easynav_system easynav_tools easynav_bonxai_maps_manager easynav_costmap_common easynav_costmap_localizer easynav_costmap_maps_manager easynav_costmap_planner easynav_gps_localizer easynav_fusion_localizer easynav_mppi_controller easynav_navmap_localizer easynav_navmap_maps_manager easynav_navmap_planner easynav_serest_controller easynav_simple_common easynav_simple_controller easynav_simple_localizer easynav_simple_maps_manager easynav_simple_planner easynav_vff_controller easynav_mpc_controller
+          target-ros2-distro: rolling
+          ref: rolling
+          vcs-repo-file-url: ${GITHUB_WORKSPACE}/.github/thirdparty.repos
+          skip-tests: false
+          colcon-defaults: |
+            {
+              "build": {
+                "packages-up-to": true,
+                "mixin": ["coverage-gcc"]
+              },
+              "test": {
+                "parallel-workers" : 1
+              }
+            }
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+
+      - name: Codecov
+        uses: codecov/codecov-action@v5.4.0
+        with:
+          files: ros_ws/lcov/total_coverage.info
+          flags: unittests
+          name: codecov-umbrella
+          # yml: ./codecov.yml
+          fail_ci_if_error: false

.gitignore

@@ -0,0 +1,8 @@
+# VS Code stuff 
+/.vscode/**
+**/__pycache__/
+
+# ROS 2 build files
+build/
+install/
+log/