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chore: Add CI configuration - #20

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arjo129 merged 34 commits into
epic/next-gen-basefrom
arjoc/feat/ci_config_next_gen
Jun 24, 2026
Merged

chore: Add CI configuration#20
arjo129 merged 34 commits into
epic/next-gen-basefrom
arjoc/feat/ci_config_next_gen

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@arjo129

@arjo129 arjo129 commented Jun 22, 2026 •
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New feature implementation

Implemented feature

Adds a CI for the next-gen prototype.

Implementation description

We create a base container consisting of ros2_rust, nav2 and generated rust messages. We then Perform the building against this base container.

GenAI Use

We follow OSRA's policy on GenAI tools

  • I used a GenAI tool in this PR.
  • I did not use GenAI

Generated-by: Gemini Pro 3.1

@arjo129
chore: Add CI configuration from arjoc/feat/ci_config
14159ee 
Copying .github/workflows and docker files to enable CI on epic/next-gen-base.

Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
@mxgrey mxgrey added this to PMC Board Jun 22, 2026
@github-project-automation github-project-automation Bot moved this to Inbox in PMC Board Jun 22, 2026
arjo129 added 3 commits June 22, 2026 15:54
@arjo129
Update branches for build workflow trigger
5331c10 
Signed-off-by: Arjo Chakravarty <arjo129@gmail.com>
@arjo129
Update CI workflow branch to epic/next-gen-base
fbce150 
Signed-off-by: Arjo Chakravarty <arjo129@gmail.com>
@arjo129
Add branch to CI workflow for additional feature
9ed725a 
Signed-off-by: Arjo Chakravarty <arjo129@gmail.com>
@arjo129
arjo129 requested review from mxgrey and xiyuoh June 22, 2026 08:16
@arjo129 arjo129 mentioned this pull request Jun 22, 2026
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xiyuoh
xiyuoh reviewed Jun 22, 2026
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arjo129 added 4 commits June 23, 2026 02:24
@arjo129
Remove nav2 stuff
cca76c8 
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
@arjo129
Merge remote-tracking branch 'refs/remotes/upstream/arjoc/feat/ci_con…
131152e 
…fig_next_gen' into arjoc/feat/ci_config_next_gen
@arjo129
Rosdep new code as well
94b070d 
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
@arjo129
Rosdep new code as well
7bbb9f0 
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
@arjo129 arjo129 mentioned this pull request Jun 23, 2026
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arjo129 added 2 commits June 23, 2026 05:55
@arjo129
Update CI
f8ee72d 
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
@arjo129
Update readme
c22c3e0 
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
@arjo129 arjo129 changed the title chore: Add CI configuration from arjoc/feat/ci_config chore: Add CI configuration Jun 23, 2026
@arjo129
arjo129 requested a review from xiyuoh June 23, 2026 07:19
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Comment thread README.md Outdated
arjo129 and others added 10 commits June 23, 2026 08:00
@arjo129
try not using repos file
9d1d062 
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
@arjo129
Fix typo
ece8324 
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
@arjo129 @xiyuoh
Update README.md
7e2372b 
Co-authored-by: Xiyu <ohxiyu@gmail.com>
Signed-off-by: Arjo Chakravarty <arjo129@gmail.com>
@arjo129
remove broken source path
861fd19 
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
@arjo129
Merge remote-tracking branch 'refs/remotes/upstream/arjoc/feat/ci_con…
43a20f7 
…fig_next_gen' into arjoc/feat/ci_config_next_gen
@arjo129
remove broken source path
f62db4d 
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
@arjo129
add rosdep init
af74575 
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
@arjo129
to rosdepinit or not that is the question
b74c322 
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
@arjo129
rosdep binary
1e5cda5 
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
@arjo129
fix instructions
ef81869 
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
arjo129 added 2 commits June 23, 2026 08:50
@arjo129
Remove repos file
fab5a5f 
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
@arjo129
Remove repos reference
571864e 
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
mxgrey
mxgrey reviewed Jun 23, 2026
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arjo129 added 3 commits June 24, 2026 01:22
@arjo129
Update dockerfile to use colcon cargo from apt
ec9d260 
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
@arjo129
Update readme instructions
3426906 
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
@arjo129
Fix apt command
f975482 
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
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arjo129 requested review from mxgrey and xiyuoh June 24, 2026 02:16
xiyuoh
xiyuoh reviewed Jun 24, 2026
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Comment thread README.md Outdated
distrobox enter ros2_rust_base
```

2. **Import Workspace Dependencies (via `.repos` file)**

@xiyuoh xiyuoh Jun 24, 2026

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From what I understand there's no more .repos file, so can probably remove this bracket

@arjo129
Update README for clarity on workspace dependencies
1b4333b 
Signed-off-by: Arjo Chakravarty <arjo129@gmail.com>
@arjo129

arjo129 commented Jun 24, 2026

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This is currently broken. Ill ask for a review once Ive fixed it.

arjo129 added 6 commits June 24, 2026 06:41
@arjo129
Use rosenv
c64a1c6 
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
@arjo129
Merge remote-tracking branch 'refs/remotes/upstream/arjoc/feat/ci_con…
c904c40 
…fig_next_gen' into arjoc/feat/ci_config_next_gen
@arjo129
Re-add colcon-ros-cargo
d99c551 
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
@arjo129
update readme since vcs is no longer needed
f784b07 
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
@arjo129
Dockerfile base
25eb2f6 
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
@arjo129
Force upgrade
de2fb74 
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
@arjo129

arjo129 commented Jun 24, 2026 •
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Hooray! Things are working again!

So a couple of things stand out. First: I transitioned to rosenv for message discovery completely eliminating the need for us to build ros2 from source. However this raises a few problems: Older versions of jazzy have incompatible rust metadata in the generated rust messages. I've fixed this but I can imagine this could be a pain point for developers.

We also can't quite eliminate the pip --break-system-packages for colcon-ros-cargo as we depend on it for correctly identifying the build type. Without it colcon itself would have a hard time finding the correct build type for the rust packages. We could eliminate package.xml and build pure rust packages but that would not contain the necessary information for collecting system dependencies via rosdep or maintain a consistent build order for our messages.

@arjo129
arjo129 requested a review from xiyuoh June 24, 2026 07:48
@arjo129
Add break-system package line
677135e 
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
xiyuoh
xiyuoh approved these changes Jun 24, 2026
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LGTM! Thanks for the fixes!

@arjo129
Limit to only epic branch
725ee7b 
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
@arjo129
arjo129 merged commit efa125b into epic/next-gen-base Jun 24, 2026
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@github-project-automation github-project-automation Bot moved this from Inbox to Done in PMC Board Jun 24, 2026
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