[Re-write] Free fleet adapter using easy-full-control fleet adapter a…

…nd zenoh bridges (#145) * Clean up Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Turtlebot3 world map Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Basic example of navigate_to_pose Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * test tf Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Basic tests and README updated, started with fleet adapter template Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Tweaking results and got cancellation Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Using tf_transformations, flesh out more implementation Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Basic launch done Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Basic working with patrol tasks Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Update configs Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Battery state, update readme Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * readme Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Update README, reorganized and renamed configs, testing unique tb3 sim Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Setup tested Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Updated README Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Style workflow on push and PR, lint Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Linter syntax Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Testing and CI (#146) * Pytest setup Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Add workflow Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * On push for testing Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Remove branch override Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Use workflow directory Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Basic testing ci without RMF Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Use containers Signed-off-by: Aaron Chong <aaronchongth@gmail.com> --------- Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * update script with latest zenoh api (#149) * rebase with latest change Signed-off-by: thomasung <thomas.ung@pal-robotics.com> * add missing \ in readme Signed-off-by: thomasung <thomas.ung@pal-robotics.com> * update readme informations about zenoh version Signed-off-by: thomasung <thomas.ung@pal-robotics.com> clean dangling code * fix linting issues and test example test files Signed-off-by: thomasung <thomas.ung@pal-robotics.com> --------- Signed-off-by: thomasung <thomas.ung@pal-robotics.com> * Update README and lint Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fix enum comparison value, add replanning, update docs Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fix default args Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * fix Crash node if easy_fleet creation fails (#159) * fix Crash node if easy_fleet creation fails Upon creation of the EasyFullControl object the node may keep running even tho the returned pointer is null Signed-off-by: thomasung <thomas.ung@pal-robotics.com> lint Signed-off-by: thomasung <thomas.ung@pal-robotics.com> * rephrase comments Signed-off-by: thomasung <thomas.ung@pal-robotics.com> follow pycodestyle Signed-off-by: Thomas Ung <tomkimsour@hotmail.fr> --------- Signed-off-by: thomasung <thomas.ung@pal-robotics.com> Signed-off-by: Thomas Ung <tomkimsour@hotmail.fr> * Efc/integration testing (#157) * Adding dockerfiles for building tests Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Initial docker compose nightly workflow Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Using new docker compose command Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fix zenoh bridge image branch Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Use curl for repo tar Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Use docker compose command for down too Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Setup integration testing with flag, test with workflow Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Install docker-compose in ros container Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Ommit setup-ros step and fix linting Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Revert setup ros step, use cmake -args Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Use 1.0.1 API Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Using client and router method Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Remove command in docker compose Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Working locally, commented out zenohd Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Spinning up minimal-zenoh too Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Moving docker files, trying with client mode Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Use official zenoh docker image and compose example, rename client zenoh config, update README, test build docker images Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Re-usable workflow actions, split integration testing Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Missing docker-compose installation Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fix broken action, rename test job Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fix shell selection, use composite Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Set nightly schedule, fix steps in unit-tests Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Remove minimal zenoh router dockerfile, add checkout to unit-tests Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Isolating tf listner components for testing Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Use correct robot name, lint Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Clean up imports and fix namespacing Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Refactor to TfHandler, added testing Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Simplifying API Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Moved integration testing to free fleet adapter, added abstract RobotAdapter Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Abstract out robot adapter, slight refactor Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Robot existense test, with a planned failure to verify that it is running Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * setup rclpy node for testing too Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Add coverage and fix lint Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Use unit test test cases Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Move tests Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fix launch files Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Rename functions Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Not to check execution, comment out stop command test Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Use helper function for stop Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Using all statuses Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Badges Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Switch to easy-full-control branch before merging Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Update readme Signed-off-by: Aaron Chong <aaronchongth@gmail.com> --------- Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Lint Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Add ignore to codecov Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Coverage (#160) * Add ignore to codecov Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Test ignore Signed-off-by: Aaron Chong <aaronchongth@gmail.com> --------- Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fix navigate_to_pose script default frame Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Address comments, fix battery_state and navigate_to_pose result parsing, add additional check as temporary fix for race condition Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Update readme Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Clean up configs Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Move member variables directly used by fleet adapter into RobotAdapter, add get_map_name abstract method Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Move config files into config directory per standard package structure Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Removed abstracted RobotAdapter, to be added only after Nav1RobotAdapter is implemented Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Efc/ros1 (#161) * Basic testing on docker image for tf works Signed-off-by: Aaron Chong <aaronchong@google.com> * Renaming types and starting conversions Signed-off-by: Aaron Chong <aaronchong@google.com> * Renaming and verifying regression tests Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * minimal-zenoh-bridge-ros1 to build bridge from source Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Clone bridge recursively for rosrust Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * nav1 tf integration tests Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fix nav1 robot testing namespace, lint Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fix imports, lint, new cmake and action argument to split nav1 or nav2 integration tests Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fix ros master race condition, basic conversion Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * TransformStamped ros1 type Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Build with updated images Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Reduce size of minimal zenoh bridge ros1 image, lint Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Setup for more testing scripts Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * move base handler Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * lint Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * free_fleet testing Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * move_base_handler integration testing Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Basic testing on the level of nav1 robot adapter Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Basic nav1 fleet adapter setup done Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * New image builds and new tests Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Refactor out the part of starting fleet adapters for future testing Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Turn off nightly on-push build Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Update documentation with nav1 simulation example Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * nav1 sim architecture Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Update CI branch, todos on readme Signed-off-by: Aaron Chong <aaronchongth@gmail.com> --------- Signed-off-by: Aaron Chong <aaronchong@google.com> Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Badges Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Efc cleanup (#163) * Bump major versions Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Added nav1 and nav2 to names to make it clearer Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Revert schedule and free fleet branch Signed-off-by: Aaron Chong <aaronchongth@gmail.com> --------- Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Change maintainer emails, fix versions, minor cleanup Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Addresses review comments (#164) * Use nav2 tag for nav1 map image, rebuild images, remove typename, use more encompassing check for namespace Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Remove update handle check, and just check individually Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Use conditional in launch instead of group conditional Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fixed namespacify logic, reverted to nightly build Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fixed tests that catch runtime errors, check for replan counts instead Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Opens issue ticket when navigation fails Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Fix launch file, remove spam of nav1 message in log Signed-off-by: Aaron Chong <aaronchongth@gmail.com> --------- Signed-off-by: Aaron Chong <aaronchongth@gmail.com> * Replace polling transform and pose tests with a 2 second wait for initialization before checks Signed-off-by: Aaron Chong <aaronchongth@gmail.com> --------- Signed-off-by: Aaron Chong <aaronchongth@gmail.com> Signed-off-by: thomasung <thomas.ung@pal-robotics.com> Signed-off-by: Thomas Ung <tomkimsour@hotmail.fr> Signed-off-by: Aaron Chong <aaronchong@google.com> Co-authored-by: Thomas Ung <tomkimsour@hotmail.fr>
open-rmf · Jan 9, 2025 · d7c082c · d7c082c
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diff --git a/.github/actions/build-and-test/action.yaml b/.github/actions/build-and-test/action.yaml
@@ -0,0 +1,50 @@
+name: build-and-test
+
+inputs:
+  ros-distribution:
+    description: string, ROS distribution to setup
+    required: true
+  zenoh-version:
+    description: string, version of eclipse-zenoh to install from pip
+    required: true
+  nav1-integration-testing:
+    description: string, supports ON or OFF only
+    required: false
+    default: "OFF"
+  nav2-integration-testing:
+    description: string, supports ON or OFF only
+    required: false
+    default: "OFF"
+
+runs:
+  using: composite
+  steps:
+    - name: install dependencies
+      run: |
+        sudo apt update && sudo apt install python3-pip -y
+        pip3 install eclipse-zenoh==${{ inputs.zenoh-version }} pycdr2 rosbags --break-system-packages
+      shell: bash
+
+    - uses: ros-tooling/setup-ros@v0.7
+      with:
+        required-ros-distributions: ${{ inputs.ros-distribution }}
+
+    - name: build and test
+      uses: ros-tooling/action-ros-ci@v0.3
+      with:
+        package-name: free_fleet free_fleet_adapter free_fleet_examples
+        target-ros2-distro: ${{ inputs.ros-distribution }}
+        colcon-defaults: |
+          {
+            "build": {
+              "cmake-args": [
+                  "-DNAV1_INTEGRATION_TESTING=${{ inputs.nav1-integration-testing }}",
+                  "-DNAV2_INTEGRATION_TESTING=${{ inputs.nav2-integration-testing }}"
+              ],
+              "mixin": ["coverage-pytest"]
+            },
+            "test": {
+              "mixin": ["coverage-pytest"]
+            }
+          }
+        colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
diff --git a/.github/docker/integration-tests/nav1-docker-compose.yaml b/.github/docker/integration-tests/nav1-docker-compose.yaml
@@ -0,0 +1,31 @@
+services:
+  minimal-ros1-sim:
+    image: ghcr.io/open-rmf/free_fleet/minimal-ros1-sim:noetic-latest
+    stop_signal: SIGINT
+    network_mode: host
+    privileged: true
+    stdin_open: true
+    tty: true
+
+  minimal-nav1-bringup:
+    image: ghcr.io/open-rmf/free_fleet/minimal-nav1-bringup:noetic-latest
+    stop_signal: SIGINT
+    network_mode: host
+    privileged: true
+    stdin_open: true
+    tty: true
+
+  minimal-zenoh-bridge-ros1:
+    image: ghcr.io/open-rmf/free_fleet/minimal-zenoh-bridge-ros1:noetic-latest
+    network_mode: host
+    stdin_open: true
+    tty: true
+
+  minimal-zenoh-router:
+    image: eclipse/zenoh
+    restart: unless-stopped
+    network_mode: host
+    stdin_open: true
+    tty: true
+    environment:
+      - RUST_LOG=debug
diff --git a/.github/docker/integration-tests/nav2-docker-compose.yaml b/.github/docker/integration-tests/nav2-docker-compose.yaml
@@ -0,0 +1,27 @@
+services:
+  minimal-nav2-bringup:
+    image: ghcr.io/open-rmf/free_fleet/minimal-nav2-bringup:jazzy-latest
+    stop_signal: SIGINT
+    network_mode: host
+    privileged: true
+    stdin_open: true
+    tty: true
+    environment:
+      - ROS_DOMAIN_ID=42
+
+  minimal-zenoh-bridge-ros2dds:
+    image: ghcr.io/open-rmf/free_fleet/minimal-zenoh-bridge-ros2dds:jazzy-latest
+    network_mode: host
+    stdin_open: true
+    tty: true
+    environment:
+      - ROS_DOMAIN_ID=42
+
+  minimal-zenoh-router:
+    image: eclipse/zenoh
+    restart: unless-stopped
+    network_mode: host
+    stdin_open: true
+    tty: true
+    environment:
+      - RUST_LOG=debug
diff --git a/.github/docker/minimal-nav1-bringup/Dockerfile b/.github/docker/minimal-nav1-bringup/Dockerfile
@@ -0,0 +1,21 @@
+ARG ROS_DISTRO=noetic
+FROM docker.io/ros:$ROS_DISTRO-ros-base
+
+RUN apt update && apt install -y curl ros-$ROS_DISTRO-turtlebot3-navigation ros-$ROS_DISTRO-dwa-local-planner
+
+RUN mkdir -p /tb3 && cd /tb3 \
+  && curl -sL https://github.com/ros-navigation/navigation2/archive/refs/tags/1.3.4.tar.gz -o navigation2.tar.gz \
+  && mkdir -p /tb3/navigation2 && tar zxf navigation2.tar.gz -C /tb3/navigation2 --strip-components=1 && rm navigation2.tar.gz
+
+ENV TURTLEBOT3_MODEL=burger
+
+# Modify existing launch file to add initial pose
+RUN cd /tb3 \
+  && curl --output turtlebot3_navigation.launch "https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3/refs/heads/noetic-devel/turtlebot3_navigation/launch/turtlebot3_navigation.launch" \
+  && sed -z 's|amcl.launch"/>|amcl.launch"><arg name="initial_pose_x" value="-2.0"/><arg name="initial_pose_y" value="-0.5"/></include>|' turtlebot3_navigation.launch > turtlebot3_navigation_edited.launch
+
+RUN rm -rf \
+  /var/lib/apt/lists \
+  /dist
+
+ENTRYPOINT ["bash", "-c", ". /opt/ros/$ROS_DISTRO/setup.bash && roslaunch --wait /tb3/turtlebot3_navigation_edited.launch map_file:=/tb3/navigation2/nav2_bringup/maps/tb3_sandbox.yaml open_rviz:=false"]
diff --git a/.github/docker/minimal-nav2-bringup/Dockerfile b/.github/docker/minimal-nav2-bringup/Dockerfile
@@ -0,0 +1,22 @@
+ARG ROS_DISTRO=jazzy
+FROM docker.io/ros:$ROS_DISTRO-ros-base
+
+RUN apt update && apt install -y curl ros-$ROS_DISTRO-nav2-bringup ros-$ROS_DISTRO-rmw-cyclonedds-cpp
+
+RUN mkdir -p /tb3 && cd /tb3 \
+  && curl -sL https://github.com/ROBOTIS-GIT/turtlebot3_simulations/archive/refs/heads/master.tar.gz -o turtlebot3_simulations.tar.gz \
+  && mkdir -p /tb3/turtlebot3_simulations && tar zxf turtlebot3_simulations.tar.gz -C /tb3/turtlebot3_simulations --strip-components=1 && rm turtlebot3_simulations.tar.gz
+
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+ENV GAZEBO_MODEL_PATH="$GAZEBO_MODEL_PATH:/tb3/turtlebot3_simulations/turtlebot3_gazebo/models"
+
+RUN rm -rf \
+  /var/lib/apt/lists \
+  /dist
+
+# Modify existing params file to add initial pose
+RUN mkdir -p /params && cd /params \
+  && cp /opt/ros/$ROS_DISTRO/share/nav2_bringup/params/nav2_params.yaml . \
+  && sed -z 's|amcl:\n  ros__parameters:\n|amcl:\n  ros__parameters:\n    set_initial_pose: true\n    initial_pose: {x: -2.0, y: -0.5, z: 0.0, yaw: 0.0}\n|' nav2_params.yaml > nav2_params_edited.yaml
+
+ENTRYPOINT ["bash", "-c", ". /opt/ros/$ROS_DISTRO/setup.bash && ros2 launch nav2_bringup tb3_simulation_launch.py params_file:=/params/nav2_params_edited.yaml use_rviz:=False"]
diff --git a/.github/docker/minimal-ros1-sim/Dockerfile b/.github/docker/minimal-ros1-sim/Dockerfile
@@ -0,0 +1,12 @@
+ARG ROS_DISTRO=noetic
+FROM docker.io/ros:$ROS_DISTRO-ros-base
+
+RUN apt update && apt install -y ros-$ROS_DISTRO-turtlebot3-gazebo ros-$ROS_DISTRO-gazebo-ros-pkgs
+
+ENV TURTLEBOT3_MODEL=burger
+
+RUN rm -rf \
+  /var/lib/apt/lists \
+  /dist
+
+ENTRYPOINT ["bash", "-c", ". /opt/ros/$ROS_DISTRO/setup.bash && roslaunch turtlebot3_gazebo turtlebot3_world.launch gui:=false"]
diff --git a/.github/docker/minimal-zenoh-bridge-ros1/Dockerfile b/.github/docker/minimal-zenoh-bridge-ros1/Dockerfile
@@ -0,0 +1,36 @@
+### Build bridge
+
+ARG ROS_DISTRO=noetic
+FROM docker.io/ros:$ROS_DISTRO-ros-base
+ARG ZENOH_BRIDGE_REPO=eclipse-zenoh/zenoh-plugin-ros1
+ARG ZENOH_BRIDGE_TAG=main
+ARG FREE_FLEET_BRANCH=main
+
+RUN apt update && apt install -y build-essential curl git unzip wget
+
+# Get Rust
+RUN curl https://sh.rustup.rs -sSf | bash -s -- -y
+
+ENV PATH="/root/.cargo/bin:${PATH}"
+
+RUN mkdir -p /zenoh-bridge && cd /zenoh-bridge \
+  && git clone --recursive https://github.com/$ZENOH_BRIDGE_REPO -b $ZENOH_BRIDGE_TAG zenoh-plugin-ros1 \
+  && cd /zenoh-bridge/zenoh-plugin-ros1 \
+  && cargo build --package zenoh-bridge-ros1 --bin zenoh-bridge-ros1 --release
+
+RUN cd /zenoh-bridge \
+  && wget -O nav1_tb3_zenoh_bridge_ros1_client_config.json5 https://raw.githubusercontent.com/open-rmf/free_fleet/refs/heads/$FREE_FLEET_BRANCH/free_fleet_examples/config/zenoh/nav1_tb3_zenoh_bridge_ros1_client_config.json5
+
+RUN rm -rf \
+  /var/lib/apt/lists \
+  /dist
+
+### Set up bare minimum zenoh-bridge-ros1 image
+
+FROM docker.io/ros:$ROS_DISTRO-ros-base
+
+COPY --from=0 /zenoh-bridge/nav1_tb3_zenoh_bridge_ros1_client_config.json5 /zenoh-bridge/nav1_tb3_zenoh_bridge_ros1_client_config.json5
+
+COPY --from=0 /zenoh-bridge/zenoh-plugin-ros1/target/release/zenoh-bridge-ros1 /zenoh-bridge/zenoh-bridge-ros1
+
+ENTRYPOINT ["bash", "-c", ". /opt/ros/$ROS_DISTRO/setup.bash && /zenoh-bridge/zenoh-bridge-ros1 -c /zenoh-bridge/nav1_tb3_zenoh_bridge_ros1_client_config.json5"]
diff --git a/.github/docker/minimal-zenoh-bridge-ros2dds/Dockerfile b/.github/docker/minimal-zenoh-bridge-ros2dds/Dockerfile
@@ -0,0 +1,22 @@
+ARG ROS_DISTRO=jazzy
+FROM docker.io/ros:$ROS_DISTRO-ros-base
+ARG ZENOH_VERSION=1.1.0
+ARG FREE_FLEET_BRANCH=main
+
+RUN apt update && apt install -y wget unzip ros-$ROS_DISTRO-rmw-cyclonedds-cpp
+
+RUN mkdir -p /zenoh-bridge && cd /zenoh-bridge \
+  && wget -O zenoh-plugin-ros2dds.zip https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds/releases/download/$ZENOH_VERSION/zenoh-plugin-ros2dds-$ZENOH_VERSION-x86_64-unknown-linux-gnu-standalone.zip \
+  && unzip zenoh-plugin-ros2dds.zip \
+  && rm zenoh-plugin-ros2dds.zip
+
+RUN cd /zenoh-bridge \
+  && wget -O nav2_tb3_zenoh_bridge_ros2dds_client_config.json5 https://raw.githubusercontent.com/open-rmf/free_fleet/refs/heads/$FREE_FLEET_BRANCH/free_fleet_examples/config/zenoh/nav2_tb3_zenoh_bridge_ros2dds_client_config.json5
+
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+RUN rm -rf \
+  /var/lib/apt/lists \
+  /dist
+
+ENTRYPOINT ["bash", "-c", ". /opt/ros/$ROS_DISTRO/setup.bash && /zenoh-bridge/zenoh-bridge-ros2dds -c /zenoh-bridge/nav2_tb3_zenoh_bridge_ros2dds_client_config.json5"]
diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
diff --git a/.github/workflows/nav1-integration-tests.yaml b/.github/workflows/nav1-integration-tests.yaml
@@ -0,0 +1,45 @@
+name: nav1-integration-tests
+
+on: push
+
+jobs:
+  integration-tests:
+    timeout-minutes: 10
+    runs-on: ubuntu-latest
+    container:
+      image: osrf/ros:${{ matrix.ros_distribution }}-desktop-noble
+    strategy:
+      matrix:
+        ros_distribution:
+          - jazzy
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v1
+
+      - name: Install docker-compose
+        run: |
+          sudo apt update && sudo apt install docker-compose -y
+
+      - name: Start test fixture containers
+        run: docker-compose -f ".github/docker/integration-tests/nav1-docker-compose.yaml" up -d --build
+
+      - name: build-and-test
+        uses: ./.github/actions/build-and-test
+        with:
+          ros-distribution: ${{ matrix.ros_distribution }}
+          zenoh-version: 1.1.0
+          nav1-integration-testing: ON
+
+      - name: Stop test fixture containers
+        if: always()
+        run: docker-compose -f ".github/docker/integration-tests/nav1-docker-compose.yaml" down
+
+      - name: Upload coverage to Codecov
+        uses: codecov/codecov-action@v4
+        with:
+          files: ros_ws/coveragepy/.coverage
+          flags: tests
+          fail_ci_if_error: true
+        env:
+          CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
diff --git a/.github/workflows/nav2-integration-tests.yaml b/.github/workflows/nav2-integration-tests.yaml
@@ -0,0 +1,45 @@
+name: nav2-integration-tests
+
+on: push
+
+jobs:
+  integration-tests:
+    timeout-minutes: 10
+    runs-on: ubuntu-latest
+    container:
+      image: osrf/ros:${{ matrix.ros_distribution }}-desktop-noble
+    strategy:
+      matrix:
+        ros_distribution:
+          - jazzy
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v1
+
+      - name: Install docker-compose
+        run: |
+          sudo apt update && sudo apt install docker-compose -y
+
+      - name: Start test fixture containers
+        run: docker-compose -f ".github/docker/integration-tests/nav2-docker-compose.yaml" up -d --build
+
+      - name: build-and-test
+        uses: ./.github/actions/build-and-test
+        with:
+          ros-distribution: ${{ matrix.ros_distribution }}
+          zenoh-version: 1.1.0
+          nav2-integration-testing: ON
+
+      - name: Stop test fixture containers
+        if: always()
+        run: docker-compose -f ".github/docker/integration-tests/nav2-docker-compose.yaml" down
+
+      - name: Upload coverage to Codecov
+        uses: codecov/codecov-action@v4
+        with:
+          files: ros_ws/coveragepy/.coverage
+          flags: tests
+          fail_ci_if_error: true
+        env:
+          CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}