add hydra_ros ci workflow and fix qos issue

Author: nathanhhughes

.github/workflows/ci.yaml

@@ -0,0 +1,43 @@
+---
+# based on https://github.com/actions/starter-workflows/blob/main/ci/cmake-single-platform.yml
+name: Hydra Build and Test
+on: {push: {branches: [main]}, pull_request: {}}
+jobs:
+  lint:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Dependencies
+        run: sudo apt-get update && sudo apt install pipx
+      - name: Lint
+        run: pipx install pre-commit && cd ${{github.workspace}} && pre-commit run --all-files
+  ros2:
+    runs-on: ubuntu-latest
+    container: ros:jazzy-perception
+    steps:
+      - uses: actions/checkout@v4
+        with: {path: src/hydra_ros}
+      - name: CCache
+        id: cache-ccache
+        uses: actions/cache@v4
+        with:
+          path: ~/.cache/ccache
+          key: ${{ runner.os }}-ccache-${{ github.sha}}
+          restore-keys: |
+            ${{ runner.os }}-ccache-${{ github.sha}}
+            ${{ runner.os }}-ccache-
+      - name: Dependencies
+        run: |
+          apt update && apt install -y python3-vcstool git ccache
+          vcs import src < src/hydra_ros/install/packages.yaml
+          rosdep update --rosdistro jazzy && rosdep install --rosdistro jazzy --from-paths src --ignore-src -r -y
+      - name: Build
+        shell: bash
+        run: |
+          source /opt/ros/jazzy/setup.bash
+          colcon build --cmake-args --no-warn-unused-cli -DCMAKE_BUILD_TYPE=Release -DSEMANTIC_INFERENCE_USE_TRT=OFF -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_C_COMPILER_LAUNCHER=ccache
+      - name: Test
+        shell: bash
+        run: |-
+          source /opt/ros/jazzy/setup.bash
+          colcon test --packages-select hydra_ros hydra_visualizer --return-code-on-test-failure --ctest-args --rerun-failed --output-on-failure --event-handlers console_cohesion+

hydra_ros/src/input/ros_sensors.cpp

@@ -78,7 +78,7 @@ std::optional<sensor_msgs::msg::CameraInfo> getCameraInfo(const RosCamera::Confi
             << " to initialize sensor model";
 
   const auto start = nh.now();
-  const auto qos = rclcpp::QoS(1);
+  const auto qos = rclcpp::QoS(1).durability(rclcpp::DurabilityPolicy::BestAvailable);
   const size_t timeout = std::floor(c.warning_timeout_s * 1000);
 
   std::optional<sensor_msgs::msg::CameraInfo> msg;

install/ros2_docker.yaml install/packages.yamlinstall/ros2_docker.yaml renamed to install/packages.yaml

@@ -3,10 +3,6 @@ repositories:
     type: git
     url: https://github.com/MIT-SPARK/config_utilities.git
     version: main
-  hydra:
-    type: git
-    url: https://github.com/MIT-SPARK/Hydra.git
-    version: main
   hydra_ros:
     type: git
     url: https://github.com/MIT-SPARK/Hydra-ROS.git