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+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see README (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: Continuous Integration
+
+on: # this determines when this workflow is run
+  push:
+  #   branches: [ master, melodic-devel ] #  when master or melodic-devel branch is pushed to
+  #   pull_request:
+  #   branches: [ master ] # when there is a pull request against master
+  # schedule: # uncomment to run periodically
+  #  - cron: '0 4 * * *' # every day at 4 AM (UTC)
+  workflow_dispatch: # allow manually starting this workflow
+
+jobs:
+  industrial_ci:
+    name: ROS ${{ matrix.ROS_DISTRO }} (${{ matrix.ROS_REPO }})
+    runs-on: ubuntu-latest
+    strategy:
+      # fail-fast: false # uncomment if failing jobs should not cancel the others immediately
+      matrix: # matrix is the product of entries
+        ROS_DISTRO: [jazzy]
+        ROS_REPO: [main]
+        # exclude: # specific configuration can be excludes
+        #   - {ROS_DISTRO: melodic, ROS_REPO: testing}
+        # include: # add additional configurations
+        #   - {ROS_DISTRO: kinetic, ROS_REPO: testing}
+    env:
+      CCACHE_DIR: "${{ github.workspace }}/.ccache" # directory for ccache (and how we enable ccache in industrial_ci)
+    steps:
+      - uses: actions/checkout@v4 # clone target repository
+      - uses: actions/cache@v4 # fetch/store the directory used by ccache before/after the ci run
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          # This configuration will always create a new ccache cache starting off from the previous one (if any).
+          # In this simple version it will be shared between all builds of the same ROS_REPO and ROS_REPO
+          # and might need some fine-tuning to match the use case
+          key: ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-${{github.run_id}}
+          restore-keys: |
+            ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-
+  
+      - uses: 'ros-industrial/industrial_ci@master' # run industrial_ci
+        env: # either pass all entries explicitly
+          # Added back so testing without Dockerfile can be done
+          ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
+          # DOCKER_IMAGE: ghcr.io/cwrurobotics/rov-25:iron
+          # Done to avoid permssion errors in the ros-industrial ci.
+          # DOCKER_RUN_OPTS: -u root
+          ROS_REPO: ${{ matrix.ROS_REPO }}
+          # Install missing libxcb-cursor0 xvfb for PyQt unit testing
+          # https://pytest-qt.readthedocs.io/en/latest/troubleshooting.html
+          ADDITIONAL_DEBS: 'libxcb-cursor0 xvfb'
+          # Crazy one liner for install python dependencies
+          AFTER_INSTALL_TARGET_DEPENDENCIES_EMBED: 'pip install --upgrade pip && pip install /root/target_ws/src/rov-25 --user && rm -r /root/target_ws/src/rov-25/build'
+          # Used for running our CI but don't necessarily want to run others failing unit tests (ej. ament_pep257)
+          UPSTREAM_WORKSPACE: 'github:InvincibleRMC/ament_pep257#main'