Add ROS 2 integration tests

[EzraBrooks]

We'd like to release roslibjs v2 with a lot of improvements (asynchronous Services, ROS 2 Actions, ROS 2 TFClient), but we don't yet have any integration tests in CI for the ROS 2 support. Once this is done, we can release v2!

[sauk2]

What do you think about using setup-ros instead of the current approach followed for ROS 1?

[EzraBrooks]

That makes sense to me. I figure we'll eventually remove the ROS 1 jobs once ROS 1 is deprecated, so we don't need to create a CI matrix that covers both ROS 1 and ROS 2 - they can be separate jobs with separate implementations.

[ganatrask]

Hey @EzraBrooks I'd like to work on this issue can you share more details on what things need to be added for tests or CI for ROS?

[EzraBrooks]

The bulk of the work is to add ROS 2 versions of test/build.bash and .github/workflows/main.yml.

[labbomb]

It's been going on for a while, and now it's stuck? When will this milestone be released

[EzraBrooks]

As you can see from the milestone, this is the last remaining issue. Feel free to submit a PR!

[FlorianLebecque]

I've been trying to implement the test for ROS2, I am still having issue with all TFClient related test. How should we proceed ?

I have a branch running ros2 and the last version of rosbridge_suite on jazzy, I only need the test to be fully translated

[EzraBrooks]

I think we need to upstream @pac48's tf2_web_republisher version that works on ROS 2 to get that working. Perhaps he could open a PR and @sea-bass or @bjsowa could review that, since they're more C++-focused than I am?

[EzraBrooks]

PR here: RobotWebTools/tf2_web_republisher#35

(thanks Paul)

[bjsowa]

I think we need to upstream @pac48's tf2_web_republisher version that works on ROS 2 to get that working. Perhaps he could open a PR and @sea-bass or @bjsowa could review that, since they're more C++-focused than I am?

Sure, I'll try to review it this week if that can help with the release of new roslibjs version.

[FlorianLebecque]

I've implemented most of the ROS2 CI. But whatever I try, I can't make most of the test works. Can someone take a look and maybe we can find what I am missing ?

https://github.com/FlorianLebecque/roslibjs/tree/develop-ros2

Test that are expected to fail :

• Fibonaci
• TFClient