Move CI to an independent crate.

Signed-off-by: ChenYing Kuo <[email protected]>

.github/workflows/ci.yml

@@ -63,45 +63,45 @@ jobs:
       - name: Run tests
         run: cargo test --verbose
 
-  # system_tests_with_ros2_humble:
-  #   name: System tests with ROS 2 Humble
-  #   runs-on: ubuntu-latest
-  #   container:
-  #     image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
-  #   steps:
-  #   - uses: ros-tooling/[email protected]
-  #     with:
-  #       required-ros-distributions: humble
-
-  #   - uses: actions/checkout@v4
-  #   - uses: actions-rust-lang/setup-rust-toolchain@v1
-
-  #   - name: Install ACL
-  #     run: sudo apt-get -y install libacl1-dev
-
-  #   - name: Run ROS tests (enable feature ros_test)
-  #     shell: bash
-  #     run: "source /opt/ros/humble/setup.bash && cargo test --features ros_test --verbose"
-
-  # system_tests_with_ros2_jazzy:
-  #   name: System tests with ROS 2 Jazzy
-  #   runs-on: ubuntu-latest
-  #   container:
-  #     image: rostooling/setup-ros-docker:ubuntu-noble-ros-jazzy-ros-base-latest
-  #   steps:
-  #   - uses: ros-tooling/[email protected]
-  #     with:
-  #       required-ros-distributions: jazzy
-
-  #   - uses: actions/checkout@v4
-  #   - uses: actions-rust-lang/setup-rust-toolchain@v1
-
-  #   - name: Install ACL
-  #     run: sudo apt-get -y install libacl1-dev
-
-  #   - name: Run ROS tests (enable feature ros_test)
-  #     shell: bash
-  #     run: "source /opt/ros/jazzy/setup.bash && cargo test --features ros_test --verbose"
+  system_tests_with_ros2_humble:
+    name: System tests with ROS 2 Humble
+    runs-on: ubuntu-latest
+    container:
+      image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
+    steps:
+    - uses: ros-tooling/[email protected]
+      with:
+        required-ros-distributions: humble
+
+    - uses: actions/checkout@v4
+    - uses: actions-rust-lang/setup-rust-toolchain@v1
+
+    - name: Install ACL
+      run: sudo apt-get -y install libacl1-dev
+
+    - name: Run ROS tests
+      shell: bash
+      run: "source /opt/ros/humble/setup.bash && cd zenoh-test-ros2dds && cargo test --verbose"
+
+  system_tests_with_ros2_jazzy:
+    name: System tests with ROS 2 Jazzy
+    runs-on: ubuntu-latest
+    container:
+      image: rostooling/setup-ros-docker:ubuntu-noble-ros-jazzy-ros-base-latest
+    steps:
+    - uses: ros-tooling/[email protected]
+      with:
+        required-ros-distributions: jazzy
+
+    - uses: actions/checkout@v4
+    - uses: actions-rust-lang/setup-rust-toolchain@v1
+
+    - name: Install ACL
+      run: sudo apt-get -y install libacl1-dev
+
+    - name: Run ROS tests
+      shell: bash
+      run: "source /opt/ros/jazzy/setup.bash && cd zenoh-test-ros2dds && cargo test --verbose"
 
   # NOTE: In GitHub repository settings, the "Require status checks to pass
   # before merging" branch protection rule ensures that commits are only merged

Cargo.toml

@@ -57,11 +57,6 @@ zenoh-plugin-rest = { version = "1.0.0-dev", git = "https://github.com/eclipse-z
 ] }
 zenoh-plugin-trait = { version = "1.0.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main", default-features = false }
 
-# r2r is for tests only. See in in zenoh-plugins-ros2dds/Cargo.toml
-# TODO: The ros_test should be re-enabled as soon the r2r dependency is removed from the build of zenoh-plugin-ros2dds
-# r2r = "0.9"
-
-
 [profile.release]
 codegen-units = 1
 debug = false

zenoh-plugin-ros2dds/Cargo.toml

@@ -32,9 +32,6 @@ stats = ["zenoh/stats"]
 dynamic_plugin = []
 dds_shm = ["cyclors/iceoryx"]
 
-# TODO: The ros_test should be re-enabled as soon the r2r dependency is removed from the build of zenoh-plugin-ros2dds
-# ros_test = ["r2r"]
-
 [dependencies]
 async-trait = { workspace = true }
 bincode = { workspace = true }
@@ -57,12 +54,6 @@ zenoh-config = { workspace = true }
 zenoh-ext = { workspace = true }
 zenoh-plugin-trait = { workspace = true }
 
-# r2r is for tests only. It has to be optional because its building requires a full ROS 2 environement
-# However "optional" is not supported for "dev-dependencies".
-# Hence it's declared as a dependency but active only with "ros_test" feature
-# r2r = { workspace = true, optional = true }
-
-
 [build-dependencies]
 rustc_version = { workspace = true }
 

zenoh-test-ros2dds/Cargo.toml

@@ -0,0 +1,33 @@
+#
+# Copyright (c) 2024 ZettaScale Technology
+#
+# This program and the accompanying materials are made available under the
+# terms of the Eclipse Public License 2.0 which is available at
+# http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
+# which is available at https://www.apache.org/licenses/LICENSE-2.0.
+#
+# SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
+#
+# Contributors:
+#   ZettaScale Zenoh Team, <[email protected]>
+#
+[package]
+name = "zenoh-test-ros2dds"
+edition = "2021"
+
+[dependencies]
+cdr = "0.2.4"
+futures = "0.3.26"
+r2r = "0.9"
+serde = "1.0.154"
+serde_json = "1.0.114"
+tokio = { version = "1.35.1", default-features = false } # Default features are disabled due to some crates' requirements
+zenoh = { version = "1.0.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main", features = [
+  "plugins",
+  "unstable",
+] }
+zenoh-config = { version = "1.0.0-dev", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main", default-features = false }
+zenoh-plugin-ros2dds = { version = "1.0.0-dev", path = "../zenoh-plugin-ros2dds/", default-features = false }
+
+# We need an empty workspace to avoid being viewed as a part of zenoh-plugin-ros2dds
+[workspace]