Add ROS test with CI.

.github/workflows/ci.yml

@@ -63,6 +63,44 @@ jobs:
       - name: Run tests
         run: cargo test --verbose
 
+  build_test_ros2_humble:
+    runs-on: ubuntu-latest
+    container:
+      image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
+    steps:
+    - uses: ros-tooling/setup-ros@v0.7
+      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"
+
+  build_test_ros2_jazzy:
+    runs-on: ubuntu-latest
+    container:
+      image: rostooling/setup-ros-docker:ubuntu-noble-ros-jazzy-ros-base-latest
+    steps:
+    - uses: ros-tooling/setup-ros@v0.7
+      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"
+
   # NOTE: In GitHub repository settings, the "Require status checks to pass
   # before merging" branch protection rule ensures that commits are only merged
   # from branches where specific status checks have passed. These checks are

zenoh-plugin-ros2dds/Cargo.toml

@@ -31,6 +31,7 @@ default = ["dynamic_plugin"]
 stats = ["zenoh/stats"]
 dynamic_plugin = []
 dds_shm = ["cyclors/iceoryx"]
+ros_test = ["r2r"]
 
 [dependencies]
 async-trait = { workspace = true }
@@ -43,13 +44,15 @@ futures = { workspace = true }
 git-version = { workspace = true }
 hex = { workspace = true }
 lazy_static = { workspace = true }
+r2r = { version = "0.9", optional = true }
 regex = { workspace = true }
 serde = { workspace = true }
 serde_json = { workspace = true }
 test-case = { workspace = true }
 tokio = { workspace = true }
 tracing = { workspace = true }
 zenoh = { workspace = true }
+zenoh-config = { workspace = true }
 zenoh-ext = { workspace = true }
 zenoh-plugin-trait = { workspace = true }