This talk presents a case study in accelerating continuous integration for one of the largest capability libraries in ROS 2, Nav2. While both mature and promising solutions exist, such as the community build farm, ROS Industrial CI, we experimented with a customized yet templated approach: exploring the limits in speed and efficiency, leveraging new caching and container techniques, utilizing only the free public tier CI services. In addition to analyzing Nav2’s CI performance, we discuss lessons learned, pros/cons of each CI provider, and showcase two new resulting colcon extensions while demonstrating container development strategies for ROS projects.
4:00PM - 4:20PM -
