Add ROS test with CI. (#350)

Signed-off-by: ChenYing Kuo <[email protected]>
Co-authored-by: Julien Enoch <[email protected]>

.github/workflows/ci.yml

@@ -63,6 +63,46 @@ jobs:
       - name: Run tests
         run: cargo test --verbose
 
+  system_tests_with_ros2_humble:
+    name: System tests with ROS 2 Humble
+    runs-on: ubuntu-latest
+    container:
+      image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
+    steps:
+    - uses: ros-tooling/[email protected]
+      with:
+        required-ros-distributions: humble
+
+    - uses: actions/checkout@v4
+    - uses: actions-rust-lang/setup-rust-toolchain@v1
+
+    - name: Install ACL
+      run: sudo apt-get -y install libacl1-dev
+
+    - name: Run ROS tests (enable feature ros_test)
+      shell: bash
+      run: "source /opt/ros/humble/setup.bash && cargo test --features ros_test --verbose"
+
+  system_tests_with_ros2_jazzy:
+    name: System tests with ROS 2 Jazzy
+    runs-on: ubuntu-latest
+    container:
+      image: rostooling/setup-ros-docker:ubuntu-noble-ros-jazzy-ros-base-latest
+    steps:
+    - uses: ros-tooling/[email protected]
+      with:
+        required-ros-distributions: jazzy
+
+    - uses: actions/checkout@v4
+    - uses: actions-rust-lang/setup-rust-toolchain@v1
+
+    - name: Install ACL
+      run: sudo apt-get -y install libacl1-dev
+
+    - name: Run ROS tests (enable feature ros_test)
+      shell: bash
+      run: "source /opt/ros/jazzy/setup.bash && cargo test --features ros_test --verbose"
+
   # NOTE: In GitHub repository settings, the "Require status checks to pass
   # before merging" branch protection rule ensures that commits are only merged
   # from branches where specific status checks have passed. These checks are

Cargo.toml

@@ -55,6 +55,9 @@ zenoh-plugin-ros2dds = { version = "1.0.0-dev", path = "zenoh-plugin-ros2dds/",
 zenoh-plugin-rest = { version = "1.0.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main", default-features = false, features=["static_plugin"]}
 zenoh-plugin-trait = { version = "1.0.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main", default-features = false }
 
+# r2r is for tests only. See in in zenoh-plugins-ros2dds/Cargo.toml
+r2r = "0.9"
+
 
 [profile.release]
 codegen-units = 1

zenoh-plugin-ros2dds/Cargo.toml

@@ -31,6 +31,7 @@ default = ["dynamic_plugin"]
 stats = ["zenoh/stats"]
 dynamic_plugin = []
 dds_shm = ["cyclors/iceoryx"]
+ros_test = ["r2r"]
 
 [dependencies]
 async-trait = { workspace = true }
@@ -50,9 +51,16 @@ test-case = { workspace = true }
 tokio = { workspace = true }
 tracing = { workspace = true }
 zenoh = { workspace = true }
+zenoh-config = { workspace = true }
 zenoh-ext = { workspace = true }
 zenoh-plugin-trait = { workspace = true }
 
+# r2r is for tests only. It has to be optional because its building requires a full ROS 2 environement
+# However "optional" is not supported for "dev-dependencies".
+# Hence it's declared as a dependency but active only with "ros_test" feature
+r2r = { workspace = true, optional = true }
+
+
 [build-dependencies]
 rustc_version = { workspace = true }