diff --git a/.github/workflows/build_and_test_humble.yaml b/.github/workflows/build_and_test_humble.yaml
index 18ba436..1cc09d5 100644
--- a/.github/workflows/build_and_test_humble.yaml
+++ b/.github/workflows/build_and_test_humble.yaml
@@ -28,16 +28,11 @@ jobs:
steps:
- uses: actions/checkout@v4
- uses: ros-tooling/setup-ros@v0.7
- #with:
- # use-ros2-testing: true
- - uses: ros-tooling/action-ros-ci@v0.3
+ with:
+ use-ros2-testing: true
+ - uses: ros-tooling/action-ros-ci@v0.3 # symlink-install option
with:
skip-tests: true
target-ros2-distro: humble
- colcon-defaults: |
- {
- "build": {
- "symlink-install": false
- }
- }
+ no-symlink-install: true
vcs-repo-file-url: dependencies.repos
\ No newline at end of file
diff --git a/.github/workflows/build_and_test_iron.yaml b/.github/workflows/build_and_test_iron.yaml
index 3df1196..7e3db35 100644
--- a/.github/workflows/build_and_test_iron.yaml
+++ b/.github/workflows/build_and_test_iron.yaml
@@ -28,16 +28,12 @@ jobs:
steps:
- uses: actions/checkout@v4
- uses: ros-tooling/setup-ros@v0.7
- #with:
- # use-ros2-testing: true
- - uses: ros-tooling/action-ros-ci@v0.3
+ with:
+ use-ros2-testing: true
+ #- uses: ros-tooling/action-ros-ci@v0.3
+ - uses: ros-tooling/action-ros-ci@v0.3 # symlink-install option
with:
skip-tests: true
target-ros2-distro: iron
- colcon-defaults: |
- {
- "build": {
- "symlink-install": false
- }
- }
+ no-symlink-install: true
vcs-repo-file-url: dependencies.repos
\ No newline at end of file
diff --git a/.github/workflows/build_and_test_rolling.yaml b/.github/workflows/build_and_test_rolling.yaml
index 11e45c0..ae3d6f5 100644
--- a/.github/workflows/build_and_test_rolling.yaml
+++ b/.github/workflows/build_and_test_rolling.yaml
@@ -31,7 +31,9 @@ jobs:
with:
use-ros2-testing: true
- uses: ros-tooling/action-ros-ci@master
+ #- uses: ros-tooling/action-ros-ci@christophebedard/option-symlink-install
with:
skip-tests: true
target-ros2-distro: rolling
+ no-symlink-install: true
vcs-repo-file-url: dependencies.repos
\ No newline at end of file
diff --git a/README.md b/README.md
index f155018..7b047ce 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,5 @@
-[](https://github.com/antbono/nao_pos/actions/workflows/build_and_test_humble.yaml)
-[](https://github.com/antbono/nao_pos/actions/workflows/build_and_test_iron.yaml)
+[](https://github.com/antbono/nao_pos/actions/workflows/build_and_test_humble.yaml)
+[](https://github.com/antbono/nao_pos/actions/workflows/build_and_test_iron.yaml)
[](https://github.com/antbono/nao_pos/actions/workflows/build_and_test_rolling.yaml)
# nao_pos
@@ -13,8 +13,3 @@ The main new features are two:
- Implementing the request to play a movement as a **ROS2 action**. This gives much more control on the execution and more flexibility.
- Thanks to a new format for describing the gestures, it is possibile to **actuate any subset of the joints**, while before for each gesture you had to take the control of the whole robot. This gives much more flexibility and allows different programs to move the joints if necessary.
-
-### Note on CI
-
-The failing status is due to the colcon `--symlink-install` option that [action-ros-ci](https://github.com/ros-tooling/action-ros-ci) uses. At the moment the symlinking cannot be disabled but we are actively working with action-ros-ci maintainers (see issue [815](https://github.com/ros-tooling/action-ros-ci/issues/815)).
-
diff --git a/nao_pos_interfaces/CMakeLists.txt b/nao_pos_interfaces/CMakeLists.txt
index cb6b5fd..543dcf8 100644
--- a/nao_pos_interfaces/CMakeLists.txt
+++ b/nao_pos_interfaces/CMakeLists.txt
@@ -16,14 +16,14 @@ rosidl_generate_interfaces(${PROJECT_NAME}
#ament_export_dependencies(rosidl_default_runtime)
if(BUILD_TESTING)
- find_package(ament_lint_auto REQUIRED)
+ #find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
- set(ament_cmake_cpplint_FOUND TRUE)
+ #set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
diff --git a/nao_pos_interfaces/package.xml b/nao_pos_interfaces/package.xml
index b762c80..6feaed0 100644
--- a/nao_pos_interfaces/package.xml
+++ b/nao_pos_interfaces/package.xml
@@ -11,6 +11,7 @@
ament_lint_auto
ament_lint_common
+ ament_cmake_clang_format
rosidl_default_generators
rosidl_default_runtime
diff --git a/nao_pos_server/CMakeLists.txt b/nao_pos_server/CMakeLists.txt
index a0d8aa4..9399541 100644
--- a/nao_pos_server/CMakeLists.txt
+++ b/nao_pos_server/CMakeLists.txt
@@ -189,13 +189,17 @@ install(DIRECTORY
)
-# Test
-#if(BUILD_TESTING)
-# find_package(ament_cmake_gtest REQUIRED)
-# add_subdirectory(test)
-
-# find_package(ament_lint_auto REQUIRED)
-# ament_lint_auto_find_test_dependencies()
-#endif()
+#################### TEST ###############################
+if(BUILD_TESTING)
+find_package(ament_lint_auto REQUIRED)
+# the following line skips the linter which checks for copyrights
+# comment the line when a copyright and license is added to all source files
+#set(ament_cmake_copyright_FOUND TRUE)
+ # the following line skips cpplint (only works in a git repo)
+ # comment the line when this package is in a git repo and when
+ # a copyright and license is added to all source files
+ #set(ament_cmake_cpplint_FOUND TRUE)
+ ament_lint_auto_find_test_dependencies()
+endif()
ament_package()
diff --git a/nao_pos_server/package.xml b/nao_pos_server/package.xml
index b73de9b..87267bd 100644
--- a/nao_pos_server/package.xml
+++ b/nao_pos_server/package.xml
@@ -9,6 +9,9 @@
ament_cmake
+ ament_lint_auto
+ ament_lint_common
+ ament_cmake_clang_format
rclcpp
rclcpp_action
rclcpp_components
@@ -18,8 +21,7 @@
ament_index_cpp
nao_pos_interfaces
- ament_lint_auto
- ament_lint_common
+
ament_cmake