added CI

.github/dependabot.yml

@@ -0,0 +1,11 @@
+# Set update schedule for GitHub Actions
+# (https://docs.github.com/en/code-security/dependabot/working-with-dependabot/keeping-your-actions-up-to-date-with-dependabot)
+
+version: 2
+updates:
+
+  - package-ecosystem: "github-actions"
+    directory: "/"
+    schedule:
+      # Check for updates to GitHub Actions every week
+      interval: "weekly"

.github/workflows/build_and_test_humble.yaml

@@ -0,0 +1,43 @@
+# This is a basic workflow to help you get started with Actions
+
+name: Build (humble)
+
+# Controls when the action will run.
+on:
+  # Triggers the workflow on push
+  push:
+    branches: [ main ]
+
+  # Triggers the workflow on pull requests
+  pull_request:
+    branches: [ main ]
+
+  # Allows you to run this workflow manually from the Actions tab
+  workflow_dispatch:
+
+# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+jobs:
+  # This workflow contains a single job called "build"
+  build:
+    # The type of runner that the job will run on
+    runs-on: ubuntu-22.04
+    container:
+      image: ubuntu:jammy
+
+    # Steps represent a sequence of tasks that will be executed as part of the job
+    steps:
+      - uses: actions/checkout@v4
+      - uses: ros-tooling/[email protected]
+        #with:
+        #  use-ros2-testing: true
+      - uses: ros-tooling/[email protected]
+        with:
+          skip-tests: true
+          target-ros2-distro: humble
+          colcon-defaults: |
+            {
+              "build": {
+                "symlink-install": false
+              }
+            }
+          vcs-repo-file-url: dependencies.repos

.github/workflows/build_and_test_iron.yaml

@@ -0,0 +1,43 @@
+# This is a basic workflow to help you get started with Actions
+
+name: Build (iron)
+
+# Controls when the action will run.
+on:
+  # Triggers the workflow on push
+  push:
+    branches: [ main ]
+
+  # Triggers the workflow on pull requests
+  pull_request:
+    branches: [ main ]
+
+  # Allows you to run this workflow manually from the Actions tab
+  workflow_dispatch:
+
+# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+jobs:
+  # This workflow contains a single job called "build"
+  build:
+    # The type of runner that the job will run on
+    runs-on: ubuntu-22.04
+    container:
+      image: ubuntu:jammy
+
+    # Steps represent a sequence of tasks that will be executed as part of the job
+    steps:
+      - uses: actions/checkout@v4
+      - uses: ros-tooling/[email protected]
+        #with:
+        # use-ros2-testing: true
+      - uses: ros-tooling/[email protected]
+        with:
+          skip-tests: true
+          target-ros2-distro: iron
+          colcon-defaults: |
+            {
+              "build": {
+                "symlink-install": false
+              }
+            }
+          vcs-repo-file-url: dependencies.repos

.github/workflows/build_and_test_rolling.yaml

@@ -0,0 +1,37 @@
+# This is a basic workflow to help you get started with Actions
+
+name: Build (rolling)
+
+# Controls when the action will run.
+on:
+  # Triggers the workflow on push
+  push:
+    branches: [ main ]
+
+  # Triggers the workflow on pull requests
+  pull_request:
+    branches: [ main ]
+
+  # Allows you to run this workflow manually from the Actions tab
+  workflow_dispatch:
+
+# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+jobs:
+  # This workflow contains a single job called "build"
+  build:
+    # The type of runner that the job will run on
+    runs-on: ubuntu-latest
+    container:
+      image: ubuntu:noble
+
+    # Steps represent a sequence of tasks that will be executed as part of the job
+    steps:
+      - uses: actions/checkout@v4
+      - uses: ros-tooling/setup-ros@master
+        with:
+          use-ros2-testing: true
+      - uses: ros-tooling/action-ros-ci@master
+        with:
+          skip-tests: true
+          target-ros2-distro: rolling
+          vcs-repo-file-url: dependencies.repos

README.md

@@ -1,6 +1,10 @@
+[![Build (humble)](https://github.com/antbono/nao_pos/actions/workflows/build_and_test_humble.yaml/badge.svg)](https://github.com/antbono/nao_pos/actions/workflows/build_and_test_humble.yaml)
+[![Build (iron)](https://github.com/antbono/nao_pos/actions/workflows/build_and_test_iron.yaml/badge.svg)](https://github.com/antbono/nao_pos/actions/workflows/build_and_test_iron.yaml)
+[![Build (rolling)](https://github.com/antbono/nao_pos/actions/workflows/build_and_test_rolling.yaml/badge.svg)](https://github.com/antbono/nao_pos/actions/workflows/build_and_test_rolling.yaml)
+
 # nao_pos
 
-This repository hosts two ROS2 packages for NAOv6 that allows to play gestures and it is part of the [Open Access NAO](https://github.com/antbono/OAN) framework.
+This repository hosts two ROS2 packages for NAO v6 that allows to play gestures and it is part of the [Open Access NAO](https://github.com/antbono/OAN) framework.
 
 This project is a fork of [naosoccer_pos_action](https://github.com/ijnek/naosoccer_pos_action).
 
@@ -9,3 +13,8 @@ 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)). 
+

dependencies.repos

@@ -0,0 +1,5 @@
+repositories:
+  nao_lola:
+    type: git
+    url: https://github.com/ros-sports/nao_lola.git
+    version: rolling