Add roslog INFO traces to measure time spent initializing PTGs #228

	# Based on GTSAM file (by @ProfFan)
	name: CI Build colcon

	on: [push, pull_request]

	jobs:
	build_docker: # On Linux, iterates on all ROS 1 and ROS 2 distributions.
	runs-on: ubuntu-latest
	env:
	DEBIAN_FRONTEND: noninteractive
	strategy:
	matrix:
	# Define the Docker image(s) associated with each ROS distribution.
	# The include syntax allows additional variables to be defined, like
	# docker_image in this case. See documentation:
	# https://help.github.com/en/actions/reference/workflow-syntax-for-github-actions#example-including-configurations-in-a-matrix-build
	#
	# Platforms are defined in REP 3 and REP 2000:
	# https://ros.org/reps/rep-0003.html
	# https://ros.org/reps/rep-2000.html
	include:
	# Humble Hawksbill (May 2022 - May 2027)
	- docker_image: ubuntu:jammy
	ros_distribution: humble
	ros_version: 2

	# Iron Irwini (May 2023 - November 2024)
	- docker_image: ubuntu:jammy
	ros_distribution: iron
	ros_version: 2

	# Rolling Ridley (No End-Of-Life)
	- docker_image: ubuntu:noble
	ros_distribution: rolling
	ros_version: 2

	container:
	image: ${{ matrix.docker_image }}

	steps:
	- name: Checkout source code
	uses: actions/checkout@v3

	- name: setup ROS environment
	uses: ros-tooling/[email protected]
	with:
	required-ros-distributions: ${{ matrix.ros_distribution }}

	- name: Install rosdep dependencies
	run: \|
	. /opt/ros/*/setup.sh
	rosdep update
	rosdep install --from-paths . --ignore-src -r -y

	- name: Build with colcon
	run: \|
	. /opt/ros/*/setup.sh
	env
	MAKEFLAGS="-j2" colcon build --symlink-install --parallel-workers 2 --event-handlers console_direct+

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