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.github/workflows/build_test.yml

@@ -0,0 +1,32 @@
+name: Build test
+
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
+
+jobs:
+  build:
+    runs-on: ubuntu-22.04	
+    container: ros:humble-ros-base-jammy
+    steps:
+      - uses: actions/checkout@v4
+      - name: create a ros2 workspace
+        run: mkdir -p ros2_ws/src
+      - name: Off secrets
+        run: git config --global --add safe.directory '*'
+      - name: Pull selectes submoules
+        run: git submodule update --init --recursive external/autoware_msgs/ external/tier4_autoware_msgs/ crp_APL/planners/plan_lat_lane_follow_ldm/src/functionCode/
+      - name: copy the package to the workspace
+        run: cp -r crp_APL crp_CIL/ crp_VIL/ doc/ external/ scripts/ ros2_ws/src
+      - name: pacmod3 install
+        run: apt install apt-transport-https && sudo sh -c 'echo "deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/autonomoustuff-public.list' && apt update && apt install -y ros-humble-pacmod3
+      - name: install dependencies
+        run: cd ros2_ws && source /opt/ros/humble/setup.bash && rosdep update && rosdep install --from-paths src --ignore-src -r -y
+        shell: bash
+      - name: build the workspace
+        run: cd ros2_ws && source /opt/ros/humble/setup.bash && colcon build
+        shell: bash

.gitignore

@@ -1,3 +1,5 @@
 logs/
 build/
-install/
+install/
+
+.vscode/

crp_APL/crp_msgs/msg/Scenario.msg

@@ -3,5 +3,4 @@ std_msgs/Header header
 autoware_perception_msgs/PredictedObjects local_moving_objects
 autoware_perception_msgs/PredictedObjects local_obstacles
 crp_msgs/PathWithTrafficRules[] paths
-nav_msgs/OccupancyGrid free_space
-float32 maximum_speed
+nav_msgs/OccupancyGrid free_space

crp_APL/ctrl_vehicle_control/CMakeLists.txt

@@ -8,6 +8,7 @@ endif()
 # find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(rclpy REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(autoware_control_msgs REQUIRED)
 find_package(pacmod3_msgs REQUIRED)