Add ROS2 Jazzy build and test automation

.github/workflows/ros2_build_test.yml

@@ -0,0 +1,38 @@
+name: ROS 2 Jazzy Build and Test
+
+on:
+  push:
+    branches: [ "main" ]
+  pull_request:
+    branches: [ "main" ]
+
+jobs:
+  build-and-test:
+    runs-on: ubuntu-24.04
+    container:
+      image: ros:jazzy
+
+    steps:
+      - name: Checkout Repository
+        uses: actions/checkout@v4
+        with:
+          path: src/${{ github.event.repository.name }}
+
+      - name: Install Dependencies (rosdep)
+        run: |
+          apt-get update
+          rosdep update
+          rosdep install --from-paths src --ignore-src -r -y
+
+      - name: Build Packages
+        shell: bash
+        run: |
+          source /opt/ros/jazzy/setup.bash
+          colcon build
+
+      - name: Run Tests
+        shell: bash
+        run: |
+          source /opt/ros/jazzy/setup.bash
+          colcon test
+          colcon test-result --all

BuildInstructions.md

@@ -1,6 +1,15 @@
 Basic placeholder robot with a base box and moveable cylinder arm.
 
-How to build:
+## Setup workspace and Clone repo (*Skip if repo already cloned*)
+- Run these commands inside the terminal in Ubuntu:
+```
+mkdir -p ~/waybionic_ws/src
+cd ~/waybionic_ws/src
+git clone https://github.com/Waybionic/waybionic_ground_station.git
+cd ~/waybionic_ws
+```
+
+## Build and Launch
 - Run these commands in your workspace:
 ```
 source /opt/ros/jazzy/setup.bash

docs/model_import_runbook.md

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+# Waybionic Model Import Runbook
+
+This guide is for importing and testing real URDF and mechanical mesh exports (STLs) without breaking the clean ROS 2 foundation or editing Python launch files.
+
+## 1. Where to put the files
+- **Meshes (.stl, .dae):** Place all 3D mesh files into `waybionic_description/meshes/`.
+- **URDF/Xacro (.urdf, .xacro):** Place your exported robot description file into `waybionic_description/urdf/`.
+
+*Important: Inside the URDF, ensure the mesh paths use the standard ROS package syntax. Example:*
+`<mesh filename="package://waybionic_description/meshes/base_link.stl"/>`
+
+## 2. Rebuild the Workspace
+Any time new files are added, rebuild the foundation so CMake can install them to the ROS 2 share directory. 
+From the root of your workspace (`~/ros2_ws`):
+```
+colcon build --packages-select waybionic_description
+source install/setup.bash
+```
+
+## 3. Test the model
+Don't edit `display.launch.py` to test the model. Instead, pass the path to the new URDF using the `model:=` argument.
+From the root of your workspace, run:
+```
+ros2 launch waybionic_bringup display.launch.py model:=$(ros2 pkg prefix waybionic_description --share)/urdf/YOUR_NEW_FILE.urdf
+```
+If parsed correctly, RViz will automatically open and display the model. If there are issues, errors will print in the terminal.

fresh-clone_build_test.txt

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+COMMAND:~$ mkdir -p ~/waybionic_qa_ws/src
+COMMAND:~$ cd ~/waybionic_qa_ws/src
+COMMAND:~/waybionic_qa_ws/src$ git clone https://github.com/Waybionic/waybionic_ground_station.git
+Cloning into 'waybionic_ground_station'...
+remote: Enumerating objects: 785, done.
+remote: Counting objects: 100% (48/48), done.
+remote: Compressing objects: 100% (20/20), done.
+remote: Total 785 (delta 43), reused 28 (delta 28), pack-reused 737 (from 1)
+Receiving objects: 100% (785/785), 114.11 MiB | 10.51 MiB/s, done.
+Resolving deltas: 100% (244/244), done.
+COMMAND:~/waybionic_qa_ws/src$ cd ~/waybionic_qa_ws
+COMMAND:~/waybionic_qa_ws$ source /opt/ros/jazzy/setup.bash
+COMMAND:~/waybionic_qa_ws$ rosdep install --from-paths . --ignore-src -r -y
+/usr/bin/rosdep:6: DeprecationWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html
+  from pkg_resources import load_entry_point
+#All required rosdeps installed successfully
+COMMAND:~/waybionic_qa_ws$ colcon build --packages-select waybionic_description waybionic_bringup
+Starting >>> waybionic_description
+Finished <<< waybionic_description [3.67s]                
+Starting >>> waybionic_bringup
+Finished <<< waybionic_bringup [3.65s]                  
+Summary: 2 packages finished [7.43s]
+COMMAND:~/waybionic_qa_ws$ source install/setup.bash
+COMMAND:~/waybionic_qa_ws$ ros2 launch waybionic_bringup display.launch.py
+[INFO] [launch]: All log files can be found below /home/hoodu/.ros/log/2026-07-10-13-05-05-540928-HKINSPIRON-5729
+[INFO] [launch]: Default logging verbosity is set to INFO
+[INFO] [robot_state_publisher-1]: process started with pid [5733]
+[INFO] [joint_state_publisher_gui-2]: process started with pid [5734]
+[INFO] [rviz2-3]: process started with pid [5735]
+[robot_state_publisher-1] [INFO] [1783710305.811042817] [robot_state_publisher]: Robot initialized
+[joint_state_publisher_gui-2] [INFO] [1783710306.116934240] [joint_state_publisher_gui]: Waiting for robot_description to be published on the robot_description topic...
+[joint_state_publisher_gui-2] [INFO] [1783710306.142611172] [joint_state_publisher_gui]: Centering
+[rviz2-3] [INFO] [1783710306.184346358] [rviz2]: Stereo is NOT SUPPORTED
+[rviz2-3] [INFO] [1783710306.184576062] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
+[rviz2-3] [INFO] [1783710306.235441816] [rviz2]: Stereo is NOT SUPPORTED
+[joint_state_publisher_gui-2] [INFO] [1783710306.248351270] [joint_state_publisher_gui]: Centering
+[INFO] [rviz2-3]: process has finished cleanly [pid 5735]
+[INFO] [joint_state_publisher_gui-2]: process has finished cleanly [pid 5734]
+^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
+[robot_state_publisher-1] [INFO] [1783711167.445574412] [rclcpp]: signal_handler(SIGINT/SIGTERM)
+[INFO] [robot_state_publisher-1]: process has finished cleanly [pid 5733]

scripts/check_waybionic_ws.sh

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+#!/bin/bash
+# Fail immediately if any command fails
+set -e
+
+echo "=== Waybionic Workspace Sanity Check ==="
+
+echo "1. Sourcing ROS Jazzy..."
+source /opt/ros/jazzy/setup.bash
+
+echo "2. Checking dependencies with rosdep..."
+rosdep install --from-paths src --ignore-src -r -y
+
+echo "3. Building Waybionic packages..."
+colcon build --packages-select waybionic_description waybionic_bringup
+
+echo "4. Sourcing workspace..."
+source install/setup.bash
+
+echo "5. Parsing URDF for syntax errors..."
+# Find the URDF dynamically regardless of the clone folder name
+URDF_PATH=$(find src -name "waybionic_placeholder.urdf" | head -n 1)
+xacro $URDF_PATH > /dev/null
+
+echo "=== ✅ All checks passed! The foundation is clean and ready. ==="