Add rmw zenoh cpp to ci

Signed-off-by: mini-1235 <[email protected]>

Author: mini-1235

.circleci/config.yml

@@ -234,6 +234,10 @@ _commands:
             name: Test Workspace | << parameters.workspace >>
             working_directory: << parameters.workspace >>
             command: |
+              # Start zenohd daemon only if using rmw_zenoh_cpp  
+              if [ "$RMW_IMPLEMENTATION" = "rmw_zenoh_cpp" ]; then  
+                ros2 run rmw_zenoh_cpp rmw_zenohd &
+              fi  
               TEST_UNPASSED=$(
                 colcon list \
                   --names-only \
@@ -503,7 +507,7 @@ _jobs:
         type: boolean
         default: false
       rmw:
-        default: "rmw_cyclonedds_cpp"
+        default: "rmw_zenoh_cpp"
         type: string
     parallelism: 1
     environment:
@@ -564,6 +568,7 @@ workflows:
               rmw:
                 - rmw_cyclonedds_cpp
                 - rmw_fastrtps_cpp
+                - rmw_zenoh_cpp
     triggers:
       - schedule:
           cron: "0 13 * * *"

Dockerfile

@@ -57,6 +57,7 @@ RUN apt-get update && \
       ros-$ROS_DISTRO-rmw-fastrtps-cpp \
       ros-$ROS_DISTRO-rmw-connextdds \
       ros-$ROS_DISTRO-rmw-cyclonedds-cpp \
+      ros-$ROS_DISTRO-rmw-zenoh-cpp \
     && pip3 install --break-system-packages \
       fastcov \
       git+https://github.com/ruffsl/colcon-cache.git@a937541bfc496c7a267db7ee9d6cceca61e470ca \

nav2_behavior_tree/test/plugins/decorator/test_distance_controller.cpp

@@ -30,6 +30,7 @@ class DistanceControllerTestFixture : public nav2_behavior_tree::BehaviorTreeTes
 public:
   void SetUp()
   {
+    node_->declare_parameter("transform_tolerance", rclcpp::ParameterValue{0.1});
     config_->input_ports["distance"] = 1.0;
     config_->input_ports["global_frame"] = "map";
     config_->input_ports["robot_base_frame"] = "base_link";

nav2_smac_planner/test/test_a_star.cpp

@@ -526,6 +526,8 @@ TEST(AStarTest, test_goal_heading_mode)
     a_star.setGoal(
       80u, 80u, 10u,
       nav2_smac_planner::GoalHeadingMode::UNKNOWN), std::runtime_error);
+  delete costmapA;
+  nav2_smac_planner::NodeHybrid::destroyStaticAssets();
 }
 
 TEST(AStarTest, test_constants)