stephen-derosa · Jul 9, 2026 · Jul 30, 2026 · Jul 31, 2026
@@ -32,7 +32,7 @@
   "remoteEnv": {
     "SSH_AUTH_SOCK": "/ssh-agent"
   },
-  "postCreateCommand": "bash -lc 'source \"/opt/ros/${ROS_DISTRO}/setup.bash\" && mkdir -p src/externals && if [ -f external.repos ]; then vcs import --recursive --skip-existing src/externals < external.repos; fi && ./scripts/apply-external-patches.sh && ./src/externals/cpp-tools/install.sh --repo-root \"$PWD\" && rosdep update --rosdistro \"${ROS_DISTRO}\" && apt-get update && rosdep install --from-paths src/ros_portal src/ros_portal_config src/ros_portal_msgs src/externals/ros2_medkit/src/ros2_medkit_cmake src/externals/ros2_medkit/src/ros2_medkit_serialization --ignore-src -r -y --rosdistro \"${ROS_DISTRO}\" --skip-keys ament_cmake_clang_tidy'",
+  "postCreateCommand": "bash -lc 'source \"/opt/ros/${ROS_DISTRO}/setup.bash\" && mkdir -p src/externals && if [ -f external.repos ]; then vcs import --recursive --skip-existing src/externals < external.repos; fi && ./scripts/apply-external-patches.sh && ./src/externals/cpp-tools/install.sh --repo-root \"$PWD\" && rosdep update --rosdistro \"${ROS_DISTRO}\" && apt-get update && rosdep install --from-paths src/ros_portal src/ros_portal_config src/ros_portal_msgs src/externals/ros2_medkit/src/ros2_medkit_cmake src/externals/ros2_medkit/src/ros2_medkit_serialization src/test/waver/bringup/ src/test/cobra_flex/bringup/ --ignore-src -r -y --rosdistro \"${ROS_DISTRO}\" --skip-keys ament_cmake_clang_tidy'",
   "postStartCommand": "bash -lc 'if [ -d src/externals ]; then for repo in src/externals/*; do if [ -d \"$repo/.git\" ]; then if [ -n \"$(git -C \"$repo\" status --porcelain)\" ]; then echo \"Skipping pull for $repo because it has local changes\"; elif ! git -C \"$repo\" symbolic-ref --quiet --short HEAD >/dev/null; then echo \"Skipping pull for $repo because it is detached HEAD\"; else git -C \"$repo\" pull --recurse-submodules; fi; fi; done; fi'",
   "customizations": {
     "vscode": {

@@ -0,0 +1,156 @@
+# Copyright 2026 LiveKit
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+name: CI
+
+on:
+  pull_request:
+  push:
+    branches:
+      - main
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+concurrency:
+  group: ci-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  cpp-tools:
+    name: C++ Tools
+    uses: ./.github/workflows/cpp-tools.yml
+
+  build-and-test:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: ubuntu-24.04
+            name: linux-x64
+          - os: ubuntu-24.04-arm
+            name: linux-arm64
+
+    name: Build and Tests (${{ matrix.name }})
+    runs-on: ${{ matrix.os }}
+
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@93cb6efe18208431cddfb8368fd83d5badbf9bfd # v5.0.1
+
+      - name: Prepare devcontainer SSH agent mount
+        run: touch /tmp/devcontainer-empty-ssh-agent
+
+      - name: Setup devcontainer environment
+        uses: devcontainers/ci@513af61f4de4f75d37e4438f184ba4358f0fc1ca # v0.3
+        env:
+          GITHUB_TOKEN: ${{ github.token }}
+        with:
+          configFile: .devcontainer/devcontainer.json
+          push: never
+
+      - name: Build packages
+        uses: devcontainers/ci@513af61f4de4f75d37e4438f184ba4358f0fc1ca # v0.3
+        env:
+          DEVCONTAINER_SSH_AUTH_SOCK: /tmp/devcontainer-empty-ssh-agent
+          GITHUB_TOKEN: ${{ github.token }}
+        with:
+          configFile: .devcontainer/devcontainer.json
+          push: never
+          runCmd: |
+            bash -lc '
+              set -eo pipefail
+              source /opt/ros/jazzy/setup.bash
+              set -u
+              # target specific packages to avoid unneeded/wanted dependencies
+              colcon build --packages-up-to ros2_livekit_bridge test_utilities custom_msgs waver_bringup
+            '
+
+      - name: "colcon test: unit"
+        uses: devcontainers/ci@513af61f4de4f75d37e4438f184ba4358f0fc1ca # v0.3
+        with:
+          configFile: .devcontainer/devcontainer.json
+          push: never
+          runCmd: |
+            bash -lc '
+              set -eo pipefail
+              source /opt/ros/jazzy/setup.bash
+              source install/setup.bash
+              set -u
+
+              # --event-handlers console_direct+ streams test output live
+              # --ctest-args -R ros2_livekit_bridge_unit_tests runs only the unit tests
+              test_exit=0
+              GTEST_COLOR=1 colcon test \
+                --packages-up-to ros2_livekit_bridge test_utilities custom_msgs waver_bringup \
+                --packages-skip ros2_medkit_serialization \
+                --event-handlers console_direct+ \
+                --return-code-on-test-failure \
+                --ctest-args -R ros2_livekit_bridge_unit_tests \
+                || test_exit=$?
+              colcon test-result --verbose --all
+              exit $test_exit
+            '
+
+      - name: Start livekit-server
+        id: livekit_server
+        uses: livekit/dev-server-action@6562d7d9343e46c26ead1223151f64f00e4fc37f # v1.1.0
+        with:
+          github-token: ${{ github.token }}
+          version: v1.13.3
+          config: |
+            enable_participant_data_blob: true
+
+      - name: Install livekit-cli
+        run: |
+          set -euxo pipefail
+          curl -sSL https://get.livekit.io/cli | bash
+          lk --version
+
+      - name: "colcon test: integration"
+        uses: devcontainers/ci@513af61f4de4f75d37e4438f184ba4358f0fc1ca # v0.3
+        env:
+          CI: true
+          GITHUB_TOKEN: ${{ github.token }}
+          LIVEKIT_URL: ws://127.0.0.1:7880
+          LIVEKIT_ROOM: ros2_livekit_bridge_test_room
+        with:
+          configFile: .devcontainer/devcontainer.json
+          push: never
+          runCmd: |
+            bash -lc '
+              set -eo pipefail
+              source /opt/ros/jazzy/setup.bash
+              source install/setup.bash
+              set -u
+
+              source .token_helpers/set_test_tokens.bash
+
+              # --event-handlers console_direct+ streams test output live
+              # -R selects only the integration test
+              test_exit=0
+              GTEST_COLOR=1 colcon test \
+                --packages-select ros2_livekit_bridge \
+                --event-handlers console_direct+ \
+                --return-code-on-test-failure \
+                --ctest-args -R ros2_livekit_bridge_integration_tests \
+                || test_exit=$?
+              colcon test-result --verbose --all
+              exit $test_exit
+            '
+
+      - name: Dump LiveKit server log on failure
+        if: failure()
+        run: tail -n 500 "${{ steps.livekit_server.outputs.log-path }}" || true
@@ -131,9 +131,31 @@ RUN if [ "${INSTALL_SIMULATION_DEPS}" = "true" ]; then \
         ros-${ROS_DISTRO}-navigation2 \
         ros-${ROS_DISTRO}-robot-localization \
         ros-${ROS_DISTRO}-ros-gz-* \
-        ros-${ROS_DISTRO}-ros2-control* && \
+        ros-${ROS_DISTRO}-ros2-control* \
+        && \
       rm -rf /var/lib/apt/lists/*; \
     fi
 
+# CycloneDDS RMW. This stack runs on Cyclone rather than the ROS 2 default
+# (Fast DDS): on the CPU-bound Pi 4, Fast DDS starved the slam_toolbox
+# (map->odom) and rf2o (odom->base) TF publishers and produced continuous TF
+# extrapolation errors. Cyclone is lighter and Nav2 is most reliable with it.
+# Selected via RMW_IMPLEMENTATION (set below). See src/test/waver/README.md.
+RUN apt-get update && apt-get install -y \
+      ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
+      && \
+    rm -rf /var/lib/apt/lists/*
+
+# Middleware config baked into the image so EVERY shell and process in the
+# container inherits it (no manual export needed). Cyclone as the RMW (installed
+# above); DDS discovery restricted to localhost because cross-machine transport
+# goes over the LiveKit bridge, not raw DDS — this saves CPU and prevents two
+# robots on the same LAN + ROS_DOMAIN_ID from cross-discovering each other's
+# graphs. Trade-off: the graph is no longer reachable via ros2 CLI / RViz from
+# another machine (inspect on the Pi, or via LiveKit/Foxglove). To allow remote
+# DDS access, override at runtime: -e ROS_AUTOMATIC_DISCOVERY_RANGE=SUBNET.
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+ENV ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST
+
 COPY ./setup-shell-env.sh /tmp/setup-shell-env.sh
 RUN chmod +x /tmp/setup-shell-env.sh && /tmp/setup-shell-env.sh && rm /tmp/setup-shell-env.sh
@@ -47,6 +47,8 @@ ros2 launch ros_portal ros_portal.launch.py
 
 To get familiar with using ROS Portal, you can follow the [tutorials](docs/tutorials.md).
 
+To run in a container without an IDE, see [Running the container without an IDE](docs/development.md#running-the-container-without-an-ide).
+
 ## User Guides
 
 - [Installing Debian packages](docs/installation.md): supported ROS and Ubuntu
@@ -88,6 +90,7 @@ To get familiar with using ROS Portal, you can follow the [tutorials](docs/tutor
 - `ros_portal_msgs`: custom message definitions for ROS Portal.
 - [`ros_portal_tutorials`](src/ros_portal_tutorials/README.md):
   tutorials for using ROS Portal in a variety of scenarios.
-- [`waveshare_launch`](src/test/waveshare_launch/README.md): a package for for launching real world and simulated 4-wheeled waveshare WAVER robot.
+- [`waver`](src/test/waver/README.md): packages for launching the physical and simulated Waveshare WAVE ROVER.
+- [`cobra_flex`](src/test/cobra_flex/README.md): packages for launching the physical and simulated Cobra Flex robot.
 
 Other package READMEs under `src/` document package-specific setup, fixtures, or examples.
@@ -184,3 +184,53 @@ From the rootful devcontainer, run:
 The package and its checksum are written to `artifacts/debian/`. CI performs
 the same build and then installs the package into a clean ROS base image for
 smoke testing.
+__NOTE:__ If in the devcontainer, mount the SDK install prefix from the host before building. Or move the install artifacts to the root of the repo.
+
+### Building Against A PR Pipeline Artifact
+
+To build against the SDK produced by a `client-sdk-cpp` GitHub Actions run, pass
+the run ID:
+
+```bash
+GITHUB_TOKEN=<pat-with-actions-read> colcon build \
+  --packages-select ros2_livekit_bridge \
+  --cmake-args -DLIVEKIT_SDK_ARTIFACT_RUN_ID=<run-id>
+```
+
+- Find the run ID in the trailing number of the Actions run URL:
+  `.../actions/runs/<run-id>`.
+- A token with Actions read access is required. `gh auth token` is usually
+  enough when authenticated with the GitHub CLI.
+- Artifacts are matched by name, defaulting to `livekit-sdk-<host-triple>`, such
+  as `livekit-sdk-linux-x64`.
+- Override the artifact name with `-DLIVEKIT_SDK_ARTIFACT_NAME=<name>`.
+- Override the source repository with
+  `-DLIVEKIT_SDK_ARTIFACT_REPO=<org/repo>`. The default is
+  `livekit/client-sdk-cpp`.
+
+The artifact is cached under
+`build/.../_deps/livekit-sdk/artifact-<run-id>-<triple>/`. Delete that directory
+to force a refetch. `LIVEKIT_SDK_ARTIFACT_RUN_ID` takes precedence over
+`LIVEKIT_SDK_VERSION` but not over `LIVEKIT_LOCAL_SDK_DIR`.
+
+If the artifact does not include the exported `lib/cmake/LiveKit` package
+config, the bridge build synthesizes a minimal one into the extracted prefix so
+`find_package(LiveKit CONFIG)` resolves. A future SDK workflow should install to
+a staging prefix and upload that instead.
+
+
+## Running the container without an IDE
+1. Build the cointainer
+```bash
+docker build -t ros2-livekit-bridge-dev --build-arg WS_ROS=livekit_ws .
+```
+
+2. Run the container
+```bash
+ docker run -d --name livekit-dev --privileged --init --ipc=host --network=host -v "$PWD":/livekit_ws -w /livekit_ws ros2-livekit-bridge-dev sleep infinity
+```
+
+3 Exec into the container
+```bash
+docker exec -it livekit-dev bash
+```
@@ -1,6 +1,6 @@
 # Testing
 
-There are unit and integration tests which are run in CI. For more manual integration testing we have a simulation, see [`waveshare_launch`](../src/test/waveshare_launch/README.md): a package for for launching real world and simulated 4-wheeled waveshare WAVER robot.
+There are unit and integration tests which are run in CI. For more manual integration testing we have a simulation, see [`waver`](../src/test/waver/README.md): packages for launching the physical and simulated Waveshare WAVE ROVER.
 
 ## Unit Tests
 

@@ -15,3 +15,7 @@ repositories:
     type: git
     url: https://github.com/GGomezMorales/waver.git
     version: 9146ead456dc57f6b4bdaa1a8ca1c7b9fdb59465
+  rf2o_laser_odometry:
+    type: git
+    url: https://github.com/MAPIRlab/rf2o_laser_odometry.git
+    version: ros2