URL for repos (#31)

* URL for repos

* F2C namespace

* try using public repos

* update test

* try catch

* lint.

* try removing shutdown

* move to cyclone

* -y

* wait for action server

* try checkout again

* configurability of distribution

Author: SteveMacenski

.github/deps.repos

@@ -1,5 +1,5 @@
 repositories:
-  Fields2Cover/Fields2Cover:
+  Fields2Cover:
     type: git
     url: https://github.com/Fields2Cover/Fields2Cover.git
     version: main

.github/workflows/test.yml

@@ -10,20 +10,24 @@ jobs:
     runs-on: ubuntu-latest
     env:
       ROS_DISTRO: ${{ matrix.ros_distro }}
+      RMW_IMPLEMENTATION: rmw_cyclonedds_cpp
     container:
       image: rostooling/setup-ros-docker:ubuntu-jammy-latest
     strategy:
       fail-fast: false
       matrix:
           ros_distro: [iron]
     steps:
+    - uses: actions/checkout@v2
+    - name: Install Cyclone DDS
+      run: sudo apt install ros-${{ matrix.ros_distro }}-rmw-cyclonedds-cpp -y
     - name: Build and run tests
       id: action-ros-ci
       uses: ros-tooling/[email protected]
       with:
         import-token: ${{ secrets.GITHUB_TOKEN }}
         target-ros2-distro: ${{ matrix.ros_distro }}
-        vcs-repo-file-url: ./.github/deps.repos 
+        vcs-repo-file-url: "${{ github.workspace }}/.github/deps.repos"
     - uses: actions/upload-artifact@v1
       with:
         name: colcon-logs

opennav_coverage/test/test_server.cpp

@@ -93,6 +93,7 @@ TEST(ServerTest, testServerTransactions)
   auto action_client =
     rclcpp_action::create_client<opennav_coverage_msgs::action::ComputeCoveragePath>(
     client_node, "compute_coverage_path");
+  action_client->wait_for_action_server();
 
   auto goal_msg = opennav_coverage_msgs::action::ComputeCoveragePath::Goal();
   goal_msg.use_gml_file = true;  // Use file

opennav_coverage_bt/test/test_compute_coverage_path.cpp

@@ -87,11 +87,11 @@ class ComputeCoveragePathActionTestFixture : public ::testing::Test
 
   static void TearDownTestCase()
   {
+    factory_.reset();
+    action_server_.reset();
     delete config_;
     config_ = nullptr;
     node_.reset();
-    action_server_.reset();
-    factory_.reset();
   }
 
   void TearDown() override
@@ -166,7 +166,7 @@ int main(int argc, char ** argv)
   int all_successful = RUN_ALL_TESTS();
 
   // shutdown ROS
-  rclcpp::shutdown();
+  // rclcpp::shutdown();
   server_thread.join();
 
   return all_successful;