Add positioning doc #617

	name: ROS2 (Ubuntu)

	on:
	push:
	branches: [ main ]
	pull_request:
	branches: [ main ]

	# Based on example provided at https://github.com/ros-tooling/setup-ros

	jobs:
	build_docker: # On Linux, use docker
	runs-on: ubuntu-latest
	strategy:
	matrix:
	ros_distribution:
	- humble
	- iron

	# Define the Docker image(s) associated with each ROS distribution.
	include:
	# Humble Hawksbill (May 2022 - May 2027)
	- docker_image: ubuntu:jammy
	ros_distribution: humble
	ros_version: 2

	# Iron Irwini (May 2023 - Nov 2024)
	- docker_image: ubuntu:jammy
	ros_distribution: iron
	ros_version: 2

	container:
	image: ${{ matrix.docker_image }}
	steps:
	- name: setup ROS environment
	uses: ros-tooling/[email protected]
	with:
	required-ros-distributions: ${{ matrix.ros_distribution }}

	- name: install dependencies
	run: \|
	sudo apt update
	sudo apt install -y libusb-1.0-0-dev

	- name: install pip dependencies
	# TODO: would be better to follow https://answers.ros.org/question/370666/how-to-declare-an-external-python-dependency-in-ros2/
	# but this requires some upstream changes
	run: \|
	pip install rowan

	- uses: actions/checkout@v2
	- name: build and test ROS 2
	uses: ros-tooling/[email protected]
	with:
	package-name: \|
	crazyflie
	crazyflie_examples
	crazyflie_interfaces
	crazyflie_py
	crazyflie_sim
	target-ros2-distro: ${{ matrix.ros_distribution }}
	vcs-repo-file-url: rosinstall

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