Fix pointcloud frame rate drop #23

	name: docker-build-test
	on:
	- pull_request
	- push

	jobs:
	docker-build:
	runs-on: [self-hosted, slambox]
	steps:
	- uses: actions/checkout@v3
	with:
	submodules: true
	ref: ${{ github.ref }}
	- name: Docker build
	run: docker build . -t jmarpledev/slambox-ros2:github_action -f docker/Dockerfile --build-arg UID=$(id -u) --build-arg GID=$(id -g)

	format-lint:
	runs-on: [self-hosted, slambox]
	needs: docker-build
	steps:
	- name: format-and-lint
	uses: addnab/docker-run-action@v3
	with:
	image: jmarpledev/slambox-ros2:github_action
	shell: bash
	options: -v ${{ github.workspace }}:/home/user/ros2_ws/src/slambox-ros2
	run: \|
	cd ~/ros2_ws/src/slambox-ros2 && \
	export PATH=$PATH:/home/user/.local/bin && \
	./run_check.sh all

	build-test:
	runs-on: [self-hosted, slambox]
	needs: docker-build
	steps:
	- name: build-test
	uses: addnab/docker-run-action@v3
	with:
	image: jmarpledev/slambox-ros2:github_action
	shell: bash
	options: -v ${{ github.workspace }}:/home/user/ros2_ws/src/slambox-ros2
	run: \|
	cd ~/ros2_ws && \
	colcon build

	unit-test:
	runs-on: [self-hosted, slambox]
	needs: docker-build
	steps:
	- name: build-and-unittest
	uses: addnab/docker-run-action@v3
	with:
	image: jmarpledev/slambox-ros2:github_action
	shell: bash
	options: -v ${{ github.workspace }}:/home/user/ros2_ws/src/slambox-ros2
	run: \|
	cd ~/ros2_ws && \
	colcon test

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