Add Lazy subscription #99

	name: Build and run ROS2 tests

	on:
	push:
	branches: [ ros2 ]
	pull_request:
	branches: [ ros2 ]

	jobs:
	build:
	strategy:
	matrix:
	rosdistro: [humble, iron, jazzy, rolling]

	runs-on: ubuntu-latest

	continue-on-error: true

	container:
	# There don't seem to be ROS perception docker images for ros2 yet, so we
	# use the base imageand install the rest of the dependencies using rosdep
	# each time.
	image: ros:${{ matrix.rosdistro }}-ros-base

	steps:
	- uses: actions/checkout@v2
	with:
	path: src/laser_filters

	- name: Install dependencies
	run: rosdep update --include-eol-distros && apt-get update && rosdep install --from-path . -i -y --rosdistro ${{ matrix.rosdistro }}

	- name: Build tests
	run: . /opt/ros/${{ matrix.rosdistro }}/setup.sh && colcon build --event-handlers console_cohesion+

	- name: Run tests
	run: . /opt/ros/${{ matrix.rosdistro }}/setup.sh && colcon test --event-handlers console_cohesion+ && colcon test-result

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