Add frontier exploration #148

	name: ROS2 Build Test

	on:
	push:
	branches:
	- 'main'
	pull_request:
	branches:
	- '**'

	jobs:
	ros2-build:
	runs-on: ubuntu-latest
	container:
	image: ros:humble-ros-base-jammy

	steps:
	- name: Checkout repository
	uses: actions/checkout@v5
	with:
	submodules: 'recursive'

	- name: Setup ROS2 workspace
	shell: bash
	run: \|
	# Source ROS2 setup
	source /opt/ros/humble/setup.bash

	# Create workspace
	mkdir -p /tmp/ros2_ws/src

	# Copy source code to workspace
	cp -r . /tmp/ros2_ws/src/

	# Change to workspace directory
	cd /tmp/ros2_ws

	- name: Install dependencies
	shell: bash
	run: \|
	cd /tmp/ros2_ws
	source /opt/ros/humble/setup.bash

	# Update package lists
	apt-get update

	# Install rosdep if not already installed
	apt-get install -y python3-rosdep \
	ros-humble-rosidl-generator-dds-idl

	# Initialize rosdep if needed
	if [ ! -f /etc/ros/rosdep/sources.list.d/20-default.list ]; then
	rosdep init
	fi
	rosdep update

	# Install dependencies
	rosdep install --from-paths src --ignore-src -r -y

	- name: Build ROS2 packages
	shell: bash
	run: \|
	cd /tmp/ros2_ws
	source /opt/ros/humble/setup.bash

	# Build all packages
	colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

	# Source the built workspace
	source install/setup.bash

	echo "ROS2 build completed successfully!"

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