From 7aa531772dec5f7d3e5dfe9296bd9e46f7c7443f Mon Sep 17 00:00:00 2001
From: Emerson Knapp <emerson.b.knapp@gmail.com>
Date: Thu, 16 Nov 2023 10:19:42 -0800
Subject: [PATCH 1/3] Add Action CI check

Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
---
 .github/workflows/test.yml | 28 ++++++++++++++++++++++++++++
 1 file changed, 28 insertions(+)
 create mode 100644 .github/workflows/test.yml

diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
new file mode 100644
index 0000000..054d7be
--- /dev/null
+++ b/.github/workflows/test.yml
@@ -0,0 +1,28 @@
+name: Test
+on:
+  pull_request:
+  push:
+    branches:
+      - humble
+
+jobs:
+  build_and_test:
+    runs-on: ubuntu-latest
+    env:
+      ROS_DISTRO: ${{ matrix.ros_distro }}
+    container:
+      image: rostooling/setup-ros-docker:ubuntu-jammy-latest
+    strategy:
+      fail-fast: false
+      matrix:
+          ros_distro: [humble]
+    steps:
+    - name: Build and run tests
+      id: action-ros-ci
+      uses: ros-tooling/action-ros-ci@v0.3
+      with:
+        target-ros2-distro: ${{ matrix.ros_distro }}
+    - uses: actions/upload-artifact@v1
+      with:
+        name: colcon-logs
+        path: ros_ws/log

From 44bb5891946a39fc151a850bd65145f40805dc79 Mon Sep 17 00:00:00 2001
From: Emerson Knapp <emerson.b.knapp@gmail.com>
Date: Thu, 16 Nov 2023 10:38:21 -0800
Subject: [PATCH 2/3] Add boost dependency

Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
---
 behaviortree_ros2/package.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/behaviortree_ros2/package.xml b/behaviortree_ros2/package.xml
index a1b5ab7..59c0de5 100644
--- a/behaviortree_ros2/package.xml
+++ b/behaviortree_ros2/package.xml
@@ -11,6 +11,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>libboost-dev</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_action</depend>
   <depend>behaviortree_cpp</depend>

From 8dd2d90e1946af21b682b94e849f49213faa4944 Mon Sep 17 00:00:00 2001
From: Emerson Knapp <emerson.b.knapp@gmail.com>
Date: Thu, 16 Nov 2023 10:43:46 -0800
Subject: [PATCH 3/3] Fix incorrect override signature

Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>
---
 btcpp_ros2_samples/src/subscriber_test.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/btcpp_ros2_samples/src/subscriber_test.cpp b/btcpp_ros2_samples/src/subscriber_test.cpp
index 648fcce..3376c41 100644
--- a/btcpp_ros2_samples/src/subscriber_test.cpp
+++ b/btcpp_ros2_samples/src/subscriber_test.cpp
@@ -17,7 +17,7 @@ class ReceiveString: public RosTopicSubNode<std_msgs::msg::String>
     return {};
   }
 
-  NodeStatus onTick(const std::shared_ptr<std_msgs::msg::String>& last_msg) override
+  NodeStatus onTick(const std::shared_ptr<std_msgs::msg::String> last_msg) override
   {
     if(last_msg) // empty if no new message received, since the last tick
     {
@@ -60,4 +60,4 @@ int main(int argc, char **argv)
   }
 
   return 0;
-}
\ No newline at end of file
+}