Merge branch 'main' into feat/support_different_msg_type

.github/workflows/test.yml

@@ -0,0 +1,48 @@
+name: Go Tests with ROS2
+
+on:
+  pull_request:
+    branches: [ main ]
+  push:
+    branches: [ main ]
+
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    container:
+      image: ros:humble
+
+    steps:
+    - uses: actions/checkout@v3
+
+    - name: Install dependencies
+      run: |
+        apt-get update
+        apt-get install -y libvpx-dev
+
+    - name: Set up Go
+      uses: actions/setup-go@v4
+      with:
+        go-version: '1.23'
+
+    - name: Go Cache
+      uses: actions/cache@v3
+      with:
+        path: |
+          ~/.cache/go-build
+          ~/go/pkg/mod
+        key: ${{ runner.os }}-go-${{ hashFiles('**/go.sum') }}
+        restore-keys: |
+          ${{ runner.os }}-go-
+
+    - name: Source ROS
+      run: |
+
+    - name: Install Go dependencies
+      run: go mod download
+
+    - name: Run tests
+      shell: bash
+      run: |
+        source /opt/ros/humble/setup.bash
+        make test

Makefile

@@ -10,9 +10,13 @@ webrtc-ros-bridge-client: receiver/peer_connection_channel/libvp8decoder.so rclg
 receiver/peer_connection_channel/libvp8decoder.so: receiver/peer_connection_channel/vp8_decoder.c receiver/peer_connection_channel/vp8_decoder.h
 	cd receiver/peer_connection_channel && gcc -shared -o libvp8decoder.so -fPIC vp8_decoder.c $(pkg-config --cflags --libs vpx) $(CFLAGS) $(LDFLAGS)
 
-receiver/ros_channel/msgs cgo-flags.env: scripts/filter-root-path.sh
-	go run github.com/tiiuae/rclgo/cmd/rclgo-gen generate -d rclgo_gen --root-path=$(shell ./scripts/filter-root-path.sh)
+receiver/ros_channel/msgs cgo-flags.env:
+	go run github.com/tiiuae/rclgo/cmd/rclgo-gen generate -d rclgo_gen
+
+test: rclgo_gen cgo-flags.env
+	CGO_CFLAGS=$(CGO_CFLAGS) CGO_LDFLAGS=$(CGO_LDFLAGS) go test `go list ./... | grep -v "/rclgo_gen"`
 
-.PHONY: clean
 clean:
-	rm -rf wrb peer_connection_channel/libvp8decoder.so ros_channel/msgs cgo-flags.env
+	rm -rf wrb peer_connection_channel/libvp8decoder.so ros_channel/msgs cgo-flags.env rclgo_gen
+
+.PHONY: test clean

README.md

@@ -1,12 +1,16 @@
 # webrtc-ros-bridge
 
+![Tests](https://github.com/3DRX/webrtc-ros-bridge/actions/workflows/test.yml/badge.svg)
+
 ## Prerequisites
 
 - ROS2 humble, merge installed
 (tested on debian 12 with ROS2 humble build from source
 with command `colcon build --merge-install`)
 - libvpx-dev (deb package)
 - `go mod tidy` to get all go deps
+    - Note that it's expected to see errors of not finding package `github.com/3DRX/webrtc-ros-bridge/rclgo_gen`,
+    since it's part of the codegen using `github.com/tiiuae/rclgo`, you can just ignore it.
 
 ## Build