From 3b41ab4a0bca3108d1206c20afbc89f03cd0eb52 Mon Sep 17 00:00:00 2001
From: dehann <dehann.fourie@gmail.com>
Date: Fri, 22 Sep 2023 18:18:53 -0700
Subject: [PATCH 01/27] restore imgext test

---
 ext/PyCaesarImagesExt.jl | 9 ++++++---
 test/runtests.jl         | 1 +
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/ext/PyCaesarImagesExt.jl b/ext/PyCaesarImagesExt.jl
index 2db3842..889e71b 100644
--- a/ext/PyCaesarImagesExt.jl
+++ b/ext/PyCaesarImagesExt.jl
@@ -17,18 +17,21 @@ import PyCaesar: makeBlobFeatureTracksPerImage_FwdBck!, makeORBParams
 export calcFlow, getPose, goodFeaturesToTrack, goodFeaturesToTrackORB, combinePlot
 export trackFeaturesFrames, trackFeaturesForwardsBackwards, makeBlobFeatureTracksPerImage_FwdBck!, makeORBParams
 
+pyutilpath = joinpath(@__DIR__, "Utils")
+pushfirst!(PyVector(pyimport("sys")."path"), pyutilpath )
+
 const np = PyNULL()
 const cv = PyNULL()
+# const SscPy = PyNULL()
+SscPy = pyimport("PySSCFeatures")
 
 function __init__()
     copy!(np, pyimport("numpy"))
     copy!(cv, pyimport("cv2"))
+    # copy!(SscPy, pyimport("PySSCFeatures"))
 end
 
-pyutilpath = joinpath(@__DIR__, "Utils")
-pushfirst!(PyVector(pyimport("sys")."path"), pyutilpath )
 
-SscPy = pyimport("PySSCFeatures")
 ssc = SscPy."ssc"
 
 
diff --git a/test/runtests.jl b/test/runtests.jl
index cf6df19..aa01015 100644
--- a/test/runtests.jl
+++ b/test/runtests.jl
@@ -20,6 +20,7 @@ kps, dsc = PyCaesar.goodFeaturesToTrackORB(img)
 @test 1 < length(kps)
 @test dsc isa Matrix
 
+##
 # using RobotOS
 
 

From 3e39ada558bb66a514af51d5c44885414bd0dcb5 Mon Sep 17 00:00:00 2001
From: dehann <dehann.fourie@gmail.com>
Date: Fri, 22 Sep 2023 18:23:09 -0700
Subject: [PATCH 02/27] try check rosversion

---
 .github/workflows/CI.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index d5851b0..d092b23 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -37,6 +37,7 @@ jobs:
       #     required-ros-distributions: noetic
       # - run: "source /opt/ros/noetic/setup.bash"
       # docker pull osrf/ros:noetic-desktop
+      - run: rosversion -d
       - uses: julia-actions/setup-julia@v1
         with:
           version: ${{ matrix.julia-version }}

From 210051c76215cb64ce522eafc36a2e9fa13200c1 Mon Sep 17 00:00:00 2001
From: dehann <dehann.fourie@gmail.com>
Date: Fri, 22 Sep 2023 18:24:48 -0700
Subject: [PATCH 03/27] rosversion

---
 .github/workflows/CI.yml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index d092b23..6018b93 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -37,7 +37,8 @@ jobs:
       #     required-ros-distributions: noetic
       # - run: "source /opt/ros/noetic/setup.bash"
       # docker pull osrf/ros:noetic-desktop
-      - run: rosversion -d
+      - name: Check Rosversion
+        run: rosversion -d
       - uses: julia-actions/setup-julia@v1
         with:
           version: ${{ matrix.julia-version }}

From f6b0ff08382af32b74f3c08121fd4622da1a5b4f Mon Sep 17 00:00:00 2001
From: dehann <dehann.fourie@gmail.com>
Date: Fri, 22 Sep 2023 18:40:32 -0700
Subject: [PATCH 04/27] try this

---
 .github/workflows/CI.yml | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 6018b93..f8fde4e 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -25,6 +25,8 @@ jobs:
           # Noetic Ninjemys (May 2020 - May 2025)
           - docker_image: rostooling/setup-ros-docker:ubuntu-focal-ros-noetic-ros-base-latest
             ros_distribution: noetic
+    container:
+      image: ${{ matrix.docker_image }}
     steps:
       - uses: actions/checkout@v4
       - uses: actions/setup-python@v4
@@ -38,7 +40,11 @@ jobs:
       # - run: "source /opt/ros/noetic/setup.bash"
       # docker pull osrf/ros:noetic-desktop
       - name: Check Rosversion
-        run: rosversion -d
+        uses: ./
+          id: action-ros-ci
+          with:
+            target-ros1-distro: ${{ matrix.ros_distribution }}
+          run: rosversion -d
       - uses: julia-actions/setup-julia@v1
         with:
           version: ${{ matrix.julia-version }}

From 1cddff35a8ac1839fe812ec262bf0e90c7aa6c85 Mon Sep 17 00:00:00 2001
From: dehann <dehann.fourie@gmail.com>
Date: Fri, 22 Sep 2023 18:42:43 -0700
Subject: [PATCH 05/27] or this

---
 .github/workflows/CI.yml | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index f8fde4e..196d946 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -40,11 +40,11 @@ jobs:
       # - run: "source /opt/ros/noetic/setup.bash"
       # docker pull osrf/ros:noetic-desktop
       - name: Check Rosversion
-        uses: ./
-          id: action-ros-ci
-          with:
-            target-ros1-distro: ${{ matrix.ros_distribution }}
-          run: rosversion -d
+        # uses: ./
+        id: action-ros-ci
+        with:
+          target-ros1-distro: ${{ matrix.ros_distribution }}
+        run: rosversion -d
       - uses: julia-actions/setup-julia@v1
         with:
           version: ${{ matrix.julia-version }}

From 471cf27afb76327fa09b5f4d03bf6b39a9a5c1b2 Mon Sep 17 00:00:00 2001
From: dehann <dehann.fourie@gmail.com>
Date: Mon, 25 Sep 2023 23:08:04 -0700
Subject: [PATCH 06/27] add uses

---
 .github/workflows/CI.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 196d946..1c73372 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -40,7 +40,7 @@ jobs:
       # - run: "source /opt/ros/noetic/setup.bash"
       # docker pull osrf/ros:noetic-desktop
       - name: Check Rosversion
-        # uses: ./
+        uses: ./
         id: action-ros-ci
         with:
           target-ros1-distro: ${{ matrix.ros_distribution }}

From 1c759b9043fec9295150a71c3f0fae10fb770fd3 Mon Sep 17 00:00:00 2001
From: dehann <dehann.fourie@gmail.com>
Date: Mon, 25 Sep 2023 23:11:12 -0700
Subject: [PATCH 07/27] split run

---
 .github/workflows/CI.yml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 1c73372..682201f 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -39,12 +39,12 @@ jobs:
       #     required-ros-distributions: noetic
       # - run: "source /opt/ros/noetic/setup.bash"
       # docker pull osrf/ros:noetic-desktop
-      - name: Check Rosversion
-        uses: ./
+      - uses: ./
         id: action-ros-ci
         with:
           target-ros1-distro: ${{ matrix.ros_distribution }}
-        run: rosversion -d
+      - run: rosversion -d
+        name: Check Rosversion
       - uses: julia-actions/setup-julia@v1
         with:
           version: ${{ matrix.julia-version }}

From bdfee0a631ab014379817340c6c5ee57f43edcff Mon Sep 17 00:00:00 2001
From: dehann <dehann.fourie@gmail.com>
Date: Mon, 25 Sep 2023 23:24:50 -0700
Subject: [PATCH 08/27] try different ros docker

---
 .github/workflows/CI.yml | 26 +++++++++++++++-----------
 1 file changed, 15 insertions(+), 11 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 682201f..873e089 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -33,18 +33,22 @@ jobs:
         # with:
         #   python-version: '3.9'
         #   cache: 'pip'
-      # - run: pip install opencv-python
-      # - uses: ros-tooling/setup-ros@v0.7
-      #   with:
-      #     required-ros-distributions: noetic
-      # - run: "source /opt/ros/noetic/setup.bash"
-      # docker pull osrf/ros:noetic-desktop
-      - uses: ./
-        id: action-ros-ci
+        # - run: pip install opencv-python
+        # - uses: ros-tooling/setup-ros@v0.7
+        #   with:
+        #     required-ros-distributions: noetic
+        # - run: "source /opt/ros/noetic/setup.bash"
+        # docker pull osrf/ros:noetic-desktop
+        # - uses: ./
+        #   id: action-ros-ci
+        #   with:
+        #     target-ros1-distro: ${{ matrix.ros_distribution }}
+      - uses: ika-rwth-aachen/docker-ros@v1.2.5
         with:
-          target-ros1-distro: ${{ matrix.ros_distribution }}
-      - run: rosversion -d
-        name: Check Rosversion
+          base-image: rwthika/ros1:noetic
+          command: rosversion -d
+      # - run: rosversion -d
+      #   name: Check Rosversion
       - uses: julia-actions/setup-julia@v1
         with:
           version: ${{ matrix.julia-version }}

From 1023c22a28b983d87e9fd07df6561a1925e4aa7e Mon Sep 17 00:00:00 2001
From: dehann <dehann.fourie@gmail.com>
Date: Mon, 25 Sep 2023 23:28:03 -0700
Subject: [PATCH 09/27] add lfs

---
 .github/workflows/CI.yml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 873e089..620d342 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -29,6 +29,8 @@ jobs:
       image: ${{ matrix.docker_image }}
     steps:
       - uses: actions/checkout@v4
+        with:
+          lfs: true
       - uses: actions/setup-python@v4
         # with:
         #   python-version: '3.9'

From aa35dae654e94c163e9934a5f8c17fde79e5f7b5 Mon Sep 17 00:00:00 2001
From: dehann <dehann.fourie@gmail.com>
Date: Mon, 25 Sep 2023 23:34:47 -0700
Subject: [PATCH 10/27] reduce action for test

---
 .github/workflows/CI.yml | 68 ++++++++++++++++++++--------------------
 1 file changed, 34 insertions(+), 34 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 620d342..77043ed 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -18,13 +18,13 @@ jobs:
         julia-version: ['1.9', '~1.10.0-0', 'nightly']
         os: [ubuntu-latest]
         arch: [x64]
-        # https://github.com/ros-tooling/action-ros-ci/blob/master/.github/workflows/test.yml
-        ros_distribution:
-          - noetic
-        include:
-          # Noetic Ninjemys (May 2020 - May 2025)
-          - docker_image: rostooling/setup-ros-docker:ubuntu-focal-ros-noetic-ros-base-latest
-            ros_distribution: noetic
+        # # https://github.com/ros-tooling/action-ros-ci/blob/master/.github/workflows/test.yml
+        # ros_distribution:
+        #   - noetic
+        # include:
+        #   # Noetic Ninjemys (May 2020 - May 2025)
+        #   - docker_image: rostooling/setup-ros-docker:ubuntu-focal-ros-noetic-ros-base-latest
+        #     ros_distribution: noetic
     container:
       image: ${{ matrix.docker_image }}
     steps:
@@ -49,30 +49,30 @@ jobs:
         with:
           base-image: rwthika/ros1:noetic
           command: rosversion -d
-      # - run: rosversion -d
-      #   name: Check Rosversion
-      - uses: julia-actions/setup-julia@v1
-        with:
-          version: ${{ matrix.julia-version }}
-          arch: ${{ matrix.arch }}
-      - uses: actions/cache@v1
-        env:
-          cache-name: cache-artifacts
-        with:
-          path: ~/.julia/artifacts
-          key: ${{ runner.os }}-test-${{ env.cache-name }}-${{ hashFiles('**/Project.toml') }}
-          restore-keys: |
-            ${{ runner.os }}-test-${{ env.cache-name }}-
-            ${{ runner.os }}-test-
-            ${{ runner.os }}-
-      - uses: julia-actions/julia-buildpkg@latest
-      - run: |
-          git config --global user.name Tester
-          git config --global user.email te@st.er
-      - uses: julia-actions/julia-runtest@latest
-        continue-on-error: ${{ matrix.julia-version == 'nightly' }}
-      - uses: julia-actions/julia-processcoverage@v1
-        if: ${{ matrix.julia-version == '1.9' }}
-      - uses: codecov/codecov-action@v1
-        with:
-          file: lcov.info
\ No newline at end of file
+        # - run: rosversion -d
+        #   name: Check Rosversion
+      # - uses: julia-actions/setup-julia@v1
+      #   with:
+      #     version: ${{ matrix.julia-version }}
+      #     arch: ${{ matrix.arch }}
+      # - uses: actions/cache@v1
+      #   env:
+      #     cache-name: cache-artifacts
+      #   with:
+      #     path: ~/.julia/artifacts
+      #     key: ${{ runner.os }}-test-${{ env.cache-name }}-${{ hashFiles('**/Project.toml') }}
+      #     restore-keys: |
+      #       ${{ runner.os }}-test-${{ env.cache-name }}-
+      #       ${{ runner.os }}-test-
+      #       ${{ runner.os }}-
+      # - uses: julia-actions/julia-buildpkg@latest
+      # - run: |
+      #     git config --global user.name Tester
+      #     git config --global user.email te@st.er
+      # - uses: julia-actions/julia-runtest@latest
+      #   continue-on-error: ${{ matrix.julia-version == 'nightly' }}
+      # - uses: julia-actions/julia-processcoverage@v1
+      #   if: ${{ matrix.julia-version == '1.9' }}
+      # - uses: codecov/codecov-action@v1
+      #   with:
+      #     file: lcov.info
\ No newline at end of file

From 9633f0ab5a4641d25beab28564eeecc5d415c415 Mon Sep 17 00:00:00 2001
From: dehann <dehann.fourie@gmail.com>
Date: Tue, 26 Sep 2023 22:18:19 -0700
Subject: [PATCH 11/27] try direct ros install

---
 .github/workflows/CI.yml | 68 ++++++++++++++++++++++------------------
 1 file changed, 38 insertions(+), 30 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 77043ed..77121b4 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -25,17 +25,30 @@ jobs:
         #   # Noetic Ninjemys (May 2020 - May 2025)
         #   - docker_image: rostooling/setup-ros-docker:ubuntu-focal-ros-noetic-ros-base-latest
         #     ros_distribution: noetic
-    container:
-      image: ${{ matrix.docker_image }}
+    # container:
+    #   image: ${{ matrix.docker_image }}
     steps:
       - uses: actions/checkout@v4
         with:
           lfs: true
       - uses: actions/setup-python@v4
-        # with:
-        #   python-version: '3.9'
-        #   cache: 'pip'
-        # - run: pip install opencv-python
+        with:
+          python-version: '3.9'
+          cache: 'pip'
+        - run: pip install opencv-python
+      - uses: julia-actions/setup-julia@v1
+        with:
+          version: ${{ matrix.julia-version }}
+          arch: ${{ matrix.arch }}
+      - name: Check Rosversion
+        run: |
+          sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+          sudo apt install curl # if you haven't already installed curl
+          curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+          sudo apt update
+          sudo apt install ros-noetic-ros-core
+          source /opt/ros/noetic/setup.bash
+          rosversion -d
         # - uses: ros-tooling/setup-ros@v0.7
         #   with:
         #     required-ros-distributions: noetic
@@ -45,30 +58,25 @@ jobs:
         #   id: action-ros-ci
         #   with:
         #     target-ros1-distro: ${{ matrix.ros_distribution }}
-      - uses: ika-rwth-aachen/docker-ros@v1.2.5
-        with:
-          base-image: rwthika/ros1:noetic
-          command: rosversion -d
-        # - run: rosversion -d
-        #   name: Check Rosversion
-      # - uses: julia-actions/setup-julia@v1
-      #   with:
-      #     version: ${{ matrix.julia-version }}
-      #     arch: ${{ matrix.arch }}
-      # - uses: actions/cache@v1
-      #   env:
-      #     cache-name: cache-artifacts
-      #   with:
-      #     path: ~/.julia/artifacts
-      #     key: ${{ runner.os }}-test-${{ env.cache-name }}-${{ hashFiles('**/Project.toml') }}
-      #     restore-keys: |
-      #       ${{ runner.os }}-test-${{ env.cache-name }}-
-      #       ${{ runner.os }}-test-
-      #       ${{ runner.os }}-
-      # - uses: julia-actions/julia-buildpkg@latest
-      # - run: |
-      #     git config --global user.name Tester
-      #     git config --global user.email te@st.er
+        # - uses: ika-rwth-aachen/docker-ros@v1.2.5
+        #   with:
+        #     base-image: rwthika/ros1:noetic
+        #     command: rosversion -d
+        # - uses: actions/cache@v1
+        #   env:
+        #     cache-name: cache-artifacts
+        #   with:
+        #     path: ~/.julia/artifacts
+        #     key: ${{ runner.os }}-test-${{ env.cache-name }}-${{ hashFiles('**/Project.toml') }}
+        #     restore-keys: |
+        #       ${{ runner.os }}-test-${{ env.cache-name }}-
+        #       ${{ runner.os }}-test-
+        #       ${{ runner.os }}-
+      # ----------------
+      - uses: julia-actions/julia-buildpkg@latest
+      - run: |
+          git config --global user.name Tester
+          git config --global user.email te@st.er
       # - uses: julia-actions/julia-runtest@latest
       #   continue-on-error: ${{ matrix.julia-version == 'nightly' }}
       # - uses: julia-actions/julia-processcoverage@v1

From 7e3ee6bee4eb57bf87db5d7965d96564c7deef8f Mon Sep 17 00:00:00 2001
From: dehann <dehann.fourie@gmail.com>
Date: Tue, 26 Sep 2023 22:21:20 -0700
Subject: [PATCH 12/27] bug fix in yml

---
 .github/workflows/CI.yml | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 77121b4..0cfd9c7 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -29,13 +29,13 @@ jobs:
     #   image: ${{ matrix.docker_image }}
     steps:
       - uses: actions/checkout@v4
-        with:
-          lfs: true
+        # with:
+        #   lfs: true
       - uses: actions/setup-python@v4
         with:
           python-version: '3.9'
-          cache: 'pip'
-        - run: pip install opencv-python
+        #   cache: 'pip'
+        # - run: pip install opencv-python
       - uses: julia-actions/setup-julia@v1
         with:
           version: ${{ matrix.julia-version }}

From 4cddfdef091239c4937c3848b10637f4d51e4fec Mon Sep 17 00:00:00 2001
From: dehann <dehann.fourie@gmail.com>
Date: Tue, 26 Sep 2023 22:22:47 -0700
Subject: [PATCH 13/27] use base version

---
 .github/workflows/CI.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 0cfd9c7..7f4a8bd 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -46,7 +46,7 @@ jobs:
           sudo apt install curl # if you haven't already installed curl
           curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
           sudo apt update
-          sudo apt install ros-noetic-ros-core
+          sudo apt install ros-noetic-ros-base
           source /opt/ros/noetic/setup.bash
           rosversion -d
         # - uses: ros-tooling/setup-ros@v0.7

From 6b7789ec351233d6478726fac226f72481551fe7 Mon Sep 17 00:00:00 2001
From: dehann <dehann.fourie@gmail.com>
Date: Tue, 26 Sep 2023 23:28:25 -0700
Subject: [PATCH 14/27] try rostooling to install

---
 .github/workflows/CI.yml | 14 +++++++++-----
 1 file changed, 9 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 7f4a8bd..e869d73 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -40,15 +40,19 @@ jobs:
         with:
           version: ${{ matrix.julia-version }}
           arch: ${{ matrix.arch }}
+      - uses: ros-tooling/setup-ros@v0.6
+        with:
+          required-ros-distributions: noetic
       - name: Check Rosversion
         run: |
-          sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
-          sudo apt install curl # if you haven't already installed curl
-          curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
-          sudo apt update
-          sudo apt install ros-noetic-ros-base
+          echo "loading ros variables"
           source /opt/ros/noetic/setup.bash
           rosversion -d
+        # sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+        # sudo apt install curl # if you haven't already installed curl
+        # curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+        # sudo apt update
+        # sudo apt install ros-noetic-ros-base
         # - uses: ros-tooling/setup-ros@v0.7
         #   with:
         #     required-ros-distributions: noetic

From c8c8d74d22cc2b4a745f5504fbd16c68c400b812 Mon Sep 17 00:00:00 2001
From: dehann <dehann.fourie@gmail.com>
Date: Thu, 28 Sep 2023 07:40:11 -0700
Subject: [PATCH 15/27] setup roscore

---
 .github/workflows/CI.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index e869d73..7127a9c 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -42,7 +42,7 @@ jobs:
           arch: ${{ matrix.arch }}
       - uses: ros-tooling/setup-ros@v0.6
         with:
-          required-ros-distributions: noetic
+          required-ros-distributions: noetic-ros-core
       - name: Check Rosversion
         run: |
           echo "loading ros variables"

From 9b5c6f3852060b9eb77144bcb7a7602744a6cadb Mon Sep 17 00:00:00 2001
From: dehann <dehann.fourie@gmail.com>
Date: Thu, 28 Sep 2023 07:43:17 -0700
Subject: [PATCH 16/27] setup 0.7 and noetic

---
 .github/workflows/CI.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 7127a9c..1f7ea24 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -40,9 +40,9 @@ jobs:
         with:
           version: ${{ matrix.julia-version }}
           arch: ${{ matrix.arch }}
-      - uses: ros-tooling/setup-ros@v0.6
+      - uses: ros-tooling/setup-ros@v0.7
         with:
-          required-ros-distributions: noetic-ros-core
+          required-ros-distributions: noetic
       - name: Check Rosversion
         run: |
           echo "loading ros variables"

From 7e279ac12cd971755865c7011a6abefbcb6b93db Mon Sep 17 00:00:00 2001
From: dehann <dehann.fourie@gmail.com>
Date: Thu, 28 Sep 2023 07:49:08 -0700
Subject: [PATCH 17/27] try all ros?

---
 .github/workflows/CI.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 1f7ea24..f5ac27b 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -41,8 +41,8 @@ jobs:
           version: ${{ matrix.julia-version }}
           arch: ${{ matrix.arch }}
       - uses: ros-tooling/setup-ros@v0.7
-        with:
-          required-ros-distributions: noetic
+        # with:
+        #   required-ros-distributions: noetic
       - name: Check Rosversion
         run: |
           echo "loading ros variables"

From b92c6f5eed481ea4c4fc6c4b029bd052c26d93e0 Mon Sep 17 00:00:00 2001
From: dehann <dehann.fourie@gmail.com>
Date: Thu, 28 Sep 2023 07:57:10 -0700
Subject: [PATCH 18/27] ls opt ros

---
 .github/workflows/CI.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index f5ac27b..29cb592 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -46,6 +46,7 @@ jobs:
       - name: Check Rosversion
         run: |
           echo "loading ros variables"
+          ls /opt/ros
           source /opt/ros/noetic/setup.bash
           rosversion -d
         # sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

From 5df901fbd0b1678da4804cc39d62006d7898527c Mon Sep 17 00:00:00 2001
From: dehann <dehann.fourie@gmail.com>
Date: Thu, 28 Sep 2023 08:02:01 -0700
Subject: [PATCH 19/27] try jl on ros-tooling

---
 .github/workflows/CI.yml | 13 ++++---------
 1 file changed, 4 insertions(+), 9 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 29cb592..628fb55 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -44,20 +44,15 @@ jobs:
         # with:
         #   required-ros-distributions: noetic
       - name: Check Rosversion
+        # source /opt/ros/noetic/setup.bash
         run: |
           echo "loading ros variables"
-          ls /opt/ros
-          source /opt/ros/noetic/setup.bash
           rosversion -d
         # sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
         # sudo apt install curl # if you haven't already installed curl
         # curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
         # sudo apt update
         # sudo apt install ros-noetic-ros-base
-        # - uses: ros-tooling/setup-ros@v0.7
-        #   with:
-        #     required-ros-distributions: noetic
-        # - run: "source /opt/ros/noetic/setup.bash"
         # docker pull osrf/ros:noetic-desktop
         # - uses: ./
         #   id: action-ros-ci
@@ -78,12 +73,12 @@ jobs:
         #       ${{ runner.os }}-test-
         #       ${{ runner.os }}-
       # ----------------
-      - uses: julia-actions/julia-buildpkg@latest
       - run: |
           git config --global user.name Tester
           git config --global user.email te@st.er
-      # - uses: julia-actions/julia-runtest@latest
-      #   continue-on-error: ${{ matrix.julia-version == 'nightly' }}
+      - uses: julia-actions/julia-buildpkg@latest
+      - uses: julia-actions/julia-runtest@latest
+        continue-on-error: ${{ matrix.julia-version == 'nightly' }}
       # - uses: julia-actions/julia-processcoverage@v1
       #   if: ${{ matrix.julia-version == '1.9' }}
       # - uses: codecov/codecov-action@v1

From 5550e4596ca205b90eb9584f0a28011cbf05a6c4 Mon Sep 17 00:00:00 2001
From: dehann <dehann.fourie@gmail.com>
Date: Mon, 9 Oct 2023 22:23:36 -0700
Subject: [PATCH 20/27] skip ros in CI for now

---
 .github/workflows/CI.yml | 84 +++++++++++++++++++++-------------------
 test/runtests.jl         |  9 +++--
 2 files changed, 50 insertions(+), 43 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 628fb55..0227082 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -18,15 +18,6 @@ jobs:
         julia-version: ['1.9', '~1.10.0-0', 'nightly']
         os: [ubuntu-latest]
         arch: [x64]
-        # # https://github.com/ros-tooling/action-ros-ci/blob/master/.github/workflows/test.yml
-        # ros_distribution:
-        #   - noetic
-        # include:
-        #   # Noetic Ninjemys (May 2020 - May 2025)
-        #   - docker_image: rostooling/setup-ros-docker:ubuntu-focal-ros-noetic-ros-base-latest
-        #     ros_distribution: noetic
-    # container:
-    #   image: ${{ matrix.docker_image }}
     steps:
       - uses: actions/checkout@v4
         # with:
@@ -44,36 +35,9 @@ jobs:
         # with:
         #   required-ros-distributions: noetic
       - name: Check Rosversion
-        # source /opt/ros/noetic/setup.bash
+        run: rosversion -d
+      - name: Git global config
         run: |
-          echo "loading ros variables"
-          rosversion -d
-        # sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
-        # sudo apt install curl # if you haven't already installed curl
-        # curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
-        # sudo apt update
-        # sudo apt install ros-noetic-ros-base
-        # docker pull osrf/ros:noetic-desktop
-        # - uses: ./
-        #   id: action-ros-ci
-        #   with:
-        #     target-ros1-distro: ${{ matrix.ros_distribution }}
-        # - uses: ika-rwth-aachen/docker-ros@v1.2.5
-        #   with:
-        #     base-image: rwthika/ros1:noetic
-        #     command: rosversion -d
-        # - uses: actions/cache@v1
-        #   env:
-        #     cache-name: cache-artifacts
-        #   with:
-        #     path: ~/.julia/artifacts
-        #     key: ${{ runner.os }}-test-${{ env.cache-name }}-${{ hashFiles('**/Project.toml') }}
-        #     restore-keys: |
-        #       ${{ runner.os }}-test-${{ env.cache-name }}-
-        #       ${{ runner.os }}-test-
-        #       ${{ runner.os }}-
-      # ----------------
-      - run: |
           git config --global user.name Tester
           git config --global user.email te@st.er
       - uses: julia-actions/julia-buildpkg@latest
@@ -83,4 +47,46 @@ jobs:
       #   if: ${{ matrix.julia-version == '1.9' }}
       # - uses: codecov/codecov-action@v1
       #   with:
-      #     file: lcov.info
\ No newline at end of file
+      #     file: lcov.info
+
+
+
+# ==============================================
+# tried by could not get to work
+      # matrix
+        # # https://github.com/ros-tooling/action-ros-ci/blob/master/.github/workflows/test.yml
+        # ros_distribution:
+        #   - noetic
+        # include:
+        #   # Noetic Ninjemys (May 2020 - May 2025)
+        #   - docker_image: rostooling/setup-ros-docker:ubuntu-focal-ros-noetic-ros-base-latest
+        #     ros_distribution: noetic
+    # container:
+    #   image: ${{ matrix.docker_image }}
+
+      # source /opt/ros/noetic/setup.bash
+      # sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+      # sudo apt install curl # if you haven't already installed curl
+      # curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+      # sudo apt update
+      # sudo apt install ros-noetic-ros-base
+      # docker pull osrf/ros:noetic-desktop
+      # - uses: ./
+      #   id: action-ros-ci
+      #   with:
+      #     target-ros1-distro: ${{ matrix.ros_distribution }}
+      # - uses: ika-rwth-aachen/docker-ros@v1.2.5
+      #   with:
+      #     base-image: rwthika/ros1:noetic
+      #     command: rosversion -d
+      # - uses: actions/cache@v1
+      #   env:
+      #     cache-name: cache-artifacts
+      #   with:
+      #     path: ~/.julia/artifacts
+      #     key: ${{ runner.os }}-test-${{ env.cache-name }}-${{ hashFiles('**/Project.toml') }}
+      #     restore-keys: |
+      #       ${{ runner.os }}-test-${{ env.cache-name }}-
+      #       ${{ runner.os }}-test-
+      #       ${{ runner.os }}-
+    # ----------------
\ No newline at end of file
diff --git a/test/runtests.jl b/test/runtests.jl
index aa01015..3843099 100644
--- a/test/runtests.jl
+++ b/test/runtests.jl
@@ -21,13 +21,14 @@ kps, dsc = PyCaesar.goodFeaturesToTrackORB(img)
 @test dsc isa Matrix
 
 ##
-# using RobotOS
 
+# having trouble with Github Action ROS install
+# using RobotOS
+import Caesar._PCL as _PCL
 
-# wPC  = _PCL.PointCloud()
-# wPC2 = _PCL.PCLPointCloud2(wPC)
+wPC  = _PCL.PointCloud()
+wPC2 = _PCL.PCLPointCloud2(wPC)
 # rmsg = PyCaesar.toROSPointCloud2(wPC2);
-# @info "In-situ test complete of tricky ROS and _PCL loading."
 
 
 ##
\ No newline at end of file

From 7faa32e221a5e447c951a3adfdeddb511b23c597 Mon Sep 17 00:00:00 2001
From: dehann <dehann.fourie@gmail.com>
Date: Mon, 9 Oct 2023 22:55:21 -0700
Subject: [PATCH 21/27] try load ros

---
 .github/workflows/CI.yml | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 0227082..bb54279 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -32,10 +32,12 @@ jobs:
           version: ${{ matrix.julia-version }}
           arch: ${{ matrix.arch }}
       - uses: ros-tooling/setup-ros@v0.7
-        # with:
-        #   required-ros-distributions: noetic
+        with:
+          required-ros-distributions: noetic humble
       - name: Check Rosversion
-        run: rosversion -d
+        run: |
+          source /opt/ros/noetic/setup.bash && rosnode --help
+          rosversion -d
       - name: Git global config
         run: |
           git config --global user.name Tester

From 51b5110cc501ca3031a3bc6942dbde65c2fe04ba Mon Sep 17 00:00:00 2001
From: dehann <dehann.fourie@gmail.com>
Date: Mon, 9 Oct 2023 22:58:44 -0700
Subject: [PATCH 22/27] ros-tooling with doesnt work

---
 .github/workflows/CI.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index bb54279..ea0769a 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -32,8 +32,8 @@ jobs:
           version: ${{ matrix.julia-version }}
           arch: ${{ matrix.arch }}
       - uses: ros-tooling/setup-ros@v0.7
-        with:
-          required-ros-distributions: noetic humble
+        # with:
+        #   required-ros-distributions: noetic humble
       - name: Check Rosversion
         run: |
           source /opt/ros/noetic/setup.bash && rosnode --help

From 4fcaa5216d1ad2deb090d167a2c79e5a72c3ac57 Mon Sep 17 00:00:00 2001
From: dehann <dehann.fourie@gmail.com>
Date: Mon, 9 Oct 2023 23:18:29 -0700
Subject: [PATCH 23/27] ls opt ros

---
 .github/workflows/CI.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index ea0769a..4edc132 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -36,6 +36,7 @@ jobs:
         #   required-ros-distributions: noetic humble
       - name: Check Rosversion
         run: |
+          ls /opt/ros
           source /opt/ros/noetic/setup.bash && rosnode --help
           rosversion -d
       - name: Git global config

From 9bec211b5ff7500ba74e36442ada3e1e46ec9296 Mon Sep 17 00:00:00 2001
From: dehann <dehann.fourie@gmail.com>
Date: Mon, 9 Oct 2023 23:25:45 -0700
Subject: [PATCH 24/27] skip ros usage

---
 .github/workflows/CI.yml | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 4edc132..ca9be24 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -34,11 +34,12 @@ jobs:
       - uses: ros-tooling/setup-ros@v0.7
         # with:
         #   required-ros-distributions: noetic humble
-      - name: Check Rosversion
-        run: |
-          ls /opt/ros
-          source /opt/ros/noetic/setup.bash && rosnode --help
-          rosversion -d
+      # - name: Check Rosversion
+      #   run: |
+      #     ls /opt/ros
+      # no such file or dir
+      #     source /opt/ros/noetic/setup.bash && rosnode --help
+      #     rosversion -d
       - name: Git global config
         run: |
           git config --global user.name Tester

From feb01cc8e8f08b289bee925fd2e1b952b87fe437 Mon Sep 17 00:00:00 2001
From: dehann <dehann.fourie@gmail.com>
Date: Mon, 9 Oct 2023 23:35:05 -0700
Subject: [PATCH 25/27] add code cov

---
 .github/workflows/CI.yml | 16 +++++++++-------
 1 file changed, 9 insertions(+), 7 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index ca9be24..e7e02c6 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -44,14 +44,16 @@ jobs:
         run: |
           git config --global user.name Tester
           git config --global user.email te@st.er
-      - uses: julia-actions/julia-buildpkg@latest
-      - uses: julia-actions/julia-runtest@latest
+      - name: "Julia Pkg build as necessary"
+        uses: julia-actions/julia-buildpkg@latest
+      - name: "Run Julia tests"
+        uses: julia-actions/julia-runtest@latest
         continue-on-error: ${{ matrix.julia-version == 'nightly' }}
-      # - uses: julia-actions/julia-processcoverage@v1
-      #   if: ${{ matrix.julia-version == '1.9' }}
-      # - uses: codecov/codecov-action@v1
-      #   with:
-      #     file: lcov.info
+      - uses: julia-actions/julia-processcoverage@v1
+        if: ${{ matrix.julia-version == '1.9' }}
+      - uses: codecov/codecov-action@v1
+        with:
+          file: lcov.info
 
 
 

From 2bd98e57db434ac7b36361ccf708576deabfcf13 Mon Sep 17 00:00:00 2001
From: dehann <dehann.fourie@gmail.com>
Date: Tue, 10 Oct 2023 00:04:24 -0700
Subject: [PATCH 26/27] isntall numpy

---
 .github/workflows/CI.yml | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index e7e02c6..28873a0 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -25,6 +25,10 @@ jobs:
       - uses: actions/setup-python@v4
         with:
           python-version: '3.9'
+      - name: Installing Numpy
+        run: |
+          pip install pip --upgrade
+          pip install numpy
         #   cache: 'pip'
         # - run: pip install opencv-python
       - uses: julia-actions/setup-julia@v1

From 078e024345587fa41a14a603a9ff6520cc477704 Mon Sep 17 00:00:00 2001
From: dehann <dehann.fourie@gmail.com>
Date: Tue, 10 Oct 2023 00:29:44 -0700
Subject: [PATCH 27/27] pip opencv

---
 .github/workflows/CI.yml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 28873a0..b158d5a 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -25,12 +25,12 @@ jobs:
       - uses: actions/setup-python@v4
         with:
           python-version: '3.9'
-      - name: Installing Numpy
+          cache: 'pip'
+      - name: Installing pip packages
         run: |
           pip install pip --upgrade
           pip install numpy
-        #   cache: 'pip'
-        # - run: pip install opencv-python
+          pip install opencv-python
       - uses: julia-actions/setup-julia@v1
         with:
           version: ${{ matrix.julia-version }}