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bburda merged 2 commits into from
Nov 19, 2025
Merged

Add GitHub Actions CI workflow #8

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5c1792d
Add GitHub Actions CI workflow
bburda Nov 18, 2025
45b8f00
Fix CI build and migrate to system dependencies
bburda Nov 18, 2025
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6 changes: 4 additions & 2 deletions .devcontainer/setup-env.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -14,8 +14,10 @@ elif [ -n "$BASH_VERSION" ]; then
source ~/.bashrc 2>/dev/null || true
fi

# Initialize rosdep
sudo rosdep init
# Initialize rosdep if not already initialized
if [ ! -f /etc/ros/rosdep/sources.list.d/20-default.list ]; then
sudo rosdep init
fi
rosdep update

# Test installations
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40 changes: 40 additions & 0 deletions .github/workflows/ci.yml
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@@ -0,0 +1,40 @@
name: CI

on:
pull_request:
branches: [main]

jobs:
build-and-test:
runs-on: ubuntu-24.04

steps:
- name: Checkout repository
uses: actions/checkout@v4

- name: Set up ROS 2 Jazzy
uses: ros-tooling/[email protected]
with:
required-ros-distributions: jazzy

- name: Install dependencies
run: |
sudo apt-get update
rosdep update
rosdep install --from-paths src --ignore-src -r -y

- name: Build packages
run: |
source /opt/ros/jazzy/setup.bash
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

- name: Run tests
run: |
source /opt/ros/jazzy/setup.bash
source install/setup.bash
colcon test --return-code-on-test-failure

- name: Show test results
if: always()
run: |
colcon test-result --verbose
28 changes: 28 additions & 0 deletions README.md
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@@ -1,5 +1,7 @@
# ros2_diag_tree

[![CI](https://github.com/bburda/ros2_diag_tree/actions/workflows/ci.yml/badge.svg)](https://github.com/bburda/ros2_diag_tree/actions/workflows/ci.yml)

Modern, SOVD-compatible diagnostics for ROS 2 robots, built around an entity tree
(Area / Component / Function / App) for runtime discovery, health modeling, and troubleshooting.

Expand Down Expand Up @@ -31,6 +33,32 @@ so the same concepts can be used across robots, vehicles, and other embedded sys
- Health state modeled per Area / Component / Function / App
- Better remote troubleshooting and fleet-level observability for ROS 2 robots

## Development

### Installing Dependencies

```bash
rosdep install --from-paths src --ignore-src -r -y
```

### Building

```bash
colcon build --symlink-install
```

### Testing

```bash
colcon test
colcon test-result --verbose
```

### CI/CD

All pull requests are automatically built and tested using GitHub Actions.
The CI workflow runs on Ubuntu 24.04 with ROS 2 Jazzy.

## Contributing

Contributions and early feedback are welcome! Please read [`CONTRIBUTING.md`](CONTRIBUTING.md) for guidelines.
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28 changes: 7 additions & 21 deletions src/ros2_diag_tree_gateway/CMakeLists.txt
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Expand Up @@ -8,30 +8,16 @@ endif()
# Find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(nlohmann_json REQUIRED)

# Add dependencies via FetchContent
include(FetchContent)

# httplib
fetchcontent_declare(
httplib
GIT_REPOSITORY https://github.com/yhirose/cpp-httplib.git
GIT_TAG v0.14.3
)

# nlohmann/json
fetchcontent_declare(
json
GIT_REPOSITORY https://github.com/nlohmann/json.git
GIT_TAG v3.11.3
)

fetchcontent_makeavailable(httplib json)
# Find cpp-httplib using pkg-config
find_package(PkgConfig REQUIRED)
pkg_check_modules(cpp_httplib REQUIRED IMPORTED_TARGET cpp-httplib)

# Gateway node executable
add_executable(gateway_node src/gateway_node.cpp)
ament_target_dependencies(gateway_node rclcpp)
target_link_libraries(gateway_node httplib::httplib nlohmann_json::nlohmann_json)
target_link_libraries(gateway_node PkgConfig::cpp_httplib nlohmann_json::nlohmann_json)
target_include_directories(gateway_node PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
Expand All @@ -44,14 +30,14 @@ install(TARGETS gateway_node
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# Exclude uncrustify since we use clang-format
set(ament_cmake_uncrustify_FOUND TRUE)
list(APPEND AMENT_LINT_AUTO_EXCLUDE ament_cmake_uncrustify)
ament_lint_auto_find_test_dependencies()

# Add GTest
find_package(ament_cmake_gtest REQUIRED)

ament_add_gtest(test_gateway_node test/test_gateway_node.cpp)
target_link_libraries(test_gateway_node httplib::httplib nlohmann_json::nlohmann_json)
target_link_libraries(test_gateway_node PkgConfig::cpp_httplib nlohmann_json::nlohmann_json)
ament_target_dependencies(test_gateway_node rclcpp)
endif()

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2 changes: 2 additions & 0 deletions src/ros2_diag_tree_gateway/package.xml
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Expand Up @@ -11,6 +11,8 @@
<buildtool_depend>ament_cmake</buildtool_depend>

<depend>rclcpp</depend>
<depend>nlohmann-json-dev</depend>
<depend>libcpp-httplib-dev</depend>

<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
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6 changes: 3 additions & 3 deletions src/ros2_diag_tree_gateway/src/gateway_node.cpp
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Expand Up @@ -16,7 +16,7 @@
#include <memory>
#include <thread>

#include <httplib.h> // NOLINT(build/include_order)
#include <httplib.h> // NOLINT(build/include_order)
#include <nlohmann/json.hpp>
#include <rclcpp/rclcpp.hpp>

Expand Down Expand Up @@ -62,7 +62,7 @@ class GatewayNode : public rclcpp::Node {
// Health endpoint
http_server_->Get(
"/health", [this](const httplib::Request &req, httplib::Response &res) {
(void)req; // Unused parameter
(void)req; // Unused parameter

nlohmann::json health_json = {{"status", "ok"},
{"node", node_name_},
Expand All @@ -75,7 +75,7 @@ class GatewayNode : public rclcpp::Node {
// Root endpoint
http_server_->Get(
"/", [this](const httplib::Request &req, httplib::Response &res) {
(void)req; // Unused parameter
(void)req; // Unused parameter

nlohmann::json info_json = {
{"service", "ros2_diag_tree_gateway"},
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2 changes: 1 addition & 1 deletion src/ros2_diag_tree_gateway/test/test_gateway_node.cpp
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Expand Up @@ -18,7 +18,7 @@
#include <memory>
#include <thread>

#include <httplib.h> // NOLINT(build/include_order)
#include <httplib.h> // NOLINT(build/include_order)
#include <nlohmann/json.hpp>
#include <rclcpp/rclcpp.hpp>

Expand Down