WIP

.github/ros2-ci/Dockerfile

@@ -0,0 +1,3 @@
+FROM ubuntu:jammy
+
+RUN echo "hello world"

.github/ros2-ci/build-docker.sh

@@ -0,0 +1,7 @@
+#!/bin/bash
+
+set -xe
+cd ${GITHUB_WORKSPACE}/.github/ros2-ci
+source ./common.sh
+docker build -t ${IMAGE_NAME}:latest .
+docker run --rm ${IMAGE_NAME}:latest echo hi

.github/ros2-ci/common.sh

@@ -0,0 +1 @@
+IMAGE_NAME=${GITHUB_WORKFLOW}-${GITHUB_REF_NAME//\//-}-ros2-ci

.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 +1,13 @@
+#!/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 \
+  -it \
+  -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