Migrate to ros2dds bridge #221

	name: integration_tests
	on:
	pull_request:
	push:
	branches: [ main ]
	defaults:
	run:
	shell: bash
	jobs:
	test:
	runs-on: ubuntu-latest
	strategy:
	matrix:
	docker_image: ['ros:jazzy-ros-base']
	container:
	image: ${{ matrix.docker_image }}
	timeout-minutes: 60
	steps:
	- name: Install deps for Rust
	run: \|
	apt update && apt install -y git curl libclang-dev
	- uses: actions/checkout@v2
	- uses: actions/cache@v3
	with:
	path: ~/.cache/ccache
	key: ccache
	- name: vcs
	run: \|
	vcs import . < abb.repos
	- name: rosdep
	run: \|
	apt update
	apt install -y clang clang-tools lld ccache
	colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
	colcon mixin update default
	rosdep update
	rosdep install --from-paths . -yir
	- name: build
	run: /ros_entrypoint.sh colcon build --packages-up-to nexus_calibration nexus_gazebo nexus_integration_tests nexus_motion_planner --mixin release lld --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
	- name: Test - Unit Tests
	run: . ./install/setup.bash && RMW_IMPLEMENTATION=rmw_cyclonedds_cpp /ros_entrypoint.sh colcon test --packages-select nexus_motion_planner --event-handlers=console_direct+
	- name: Test - Integration Test
	run: . ./install/setup.bash && cd nexus_integration_tests && RMW_IMPLEMENTATION=rmw_cyclonedds_cpp /ros_entrypoint.sh python3 -m unittest

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