feat: tool calling spatial reasoning tasks extension #2964

	name: build and test

	on:
	pull_request:
	types: [opened, synchronize, reopened, edited, ready_for_review]
	branches:
	- development

	jobs:
	build-and-test-ros2:
	if: github.event.pull_request.draft == false

	runs-on:
	- self-hosted
	- ${{ matrix.ros_distro }}

	continue-on-error: true

	strategy:
	matrix:
	ros_distro:
	- jazzy
	- humble

	container:
	image: osrf/ros:${{ matrix.ros_distro }}-desktop-full

	steps:
	- uses: actions/checkout@v4
	with:
	clean: true

	- name: Install Poetry
	uses: snok/install-poetry@v1
	with:
	version: 2.1.1

	- name: Create virtual audio device
	run: \|
	apt-get update
	DEBIAN_FRONTEND=noninteractive apt-get --yes install jackd
	jackd -d dummy -r 44100 &

	- name: Install python dependencies
	run: poetry install --with openset,nomad,s2s,simbench

	- name: Update rosdep
	shell: bash
	run: \|
	rosdep update

	- name: Import ros2 dependencies
	shell: bash
	run: \|
	vcs import . < ros_deps.repos

	- name: Install ROS 2 package dependencies
	shell: bash
	run: \|
	apt-get update
	rosdep install --from-paths src --ignore-src -r -y

	- name: Build the workspace
	shell: bash
	run: \|
	source /opt/ros/${{ matrix.ros_distro }}/setup.bash
	colcon build

	- name: Run tests
	shell: bash
	run: \|
	source setup_shell.sh
	pytest -m "not billable"

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