Add ActionServer #29

	name: Lint & Test
	on:
	push:
	branches: [ rolling ]
	pull_request:
	branches: [ rolling ]
	defaults:
	run:
	shell: bash
	jobs:
	Linting:
	name: Lint Code Base
	runs-on: ubuntu-latest
	steps:
	- name: Checkout Code
	uses: actions/checkout@v4
	with:
	fetch-depth: 0
	- name: Setup
	run: \|
	sudo apt-get update && sudo apt-get install -y clang-format cppcheck libxml2-utils
	- name: Lint C++
	run: \|
	clang-format -Werror -n -style=file $(find . -name '.cpp' -o -name '.hpp' -o -name '.h' -o -name '.c' -o -name '*.cc')
	- name: Check C++
	run: \|
	cppcheck --force --quiet --error-exitcode=1 .
	- name: Lint package.xml
	run: \|
	xmllint --noout --schema http://download.ros.org/schema/package_format3.xsd $(find . -name 'package.xml')

	build-and-test:
	needs: Linting
	runs-on: ${{ matrix.setup.os }}
	container:
	image: ros:${{ matrix.setup.rosdistro }}-ros-base
	strategy:
	matrix:
	setup:
	- rosdistro: rolling
	os: ubuntu-latest
	steps:
	- name: install build tools
	run: \|
	sudo apt-get update
	sudo apt-get install -y ros-dev-tools
	- uses: actions/checkout@v4
	with:
	path: src
	- name: rosdep
	run: \|
	rosdep update
	rosdep install -y --from-paths src --ignore-src --rosdistro ${{ matrix.setup.rosdistro }}
	- name: build
	run: \|
	source /opt/ros/${{ matrix.setup.rosdistro }}/setup.bash
	colcon build
	- name: test
	run: \|
	source /opt/ros/${{ matrix.setup.rosdistro }}/setup.bash
	colcon test
	colcon test-result --verbose

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