Replace robot_localization with FusionCore

.buildkite/pipeline.yml

@@ -0,0 +1,67 @@
+agents:
+  queue: "openmowernext-ci"
+
+env:
+  ROS_DISTRO: "jazzy"
+
+steps:
+  - label: "Unit"
+    key: "unit"
+    command: ".buildkite/scripts/ci-unit.sh"
+    timeout_in_minutes: 120
+    artifact_paths:
+      - "build/open_mower_next/test_results/**/*"
+      - "log/**/*"
+
+  - label: "Docs"
+    key: "docs"
+    command: ".buildkite/scripts/docs-build.sh"
+    timeout_in_minutes: 30
+    if_changed:
+      - "docs/**"
+      - ".buildkite/**"
+    artifact_paths:
+      - "docs/.vitepress/dist/**/*"
+
+  - label: "Runtime image"
+    key: "runtime-image"
+    command: ".buildkite/scripts/docker-build.sh runtime"
+    timeout_in_minutes: 180
+    if_changed:
+      - "Dockerfile"
+      - "Makefile"
+      - "package.xml"
+      - "custom_deps.yaml"
+      - "cmake/**"
+      - "config/**"
+      - "description/**"
+      - "launch/**"
+      - "maps/**"
+      - "protos/**"
+      - "src/**"
+      - "utils/**"
+      - "worlds/**"
+
+  - label: "Devcontainer image"
+    key: "devcontainer-image"
+    command: ".buildkite/scripts/docker-build.sh devcontainer"
+    timeout_in_minutes: 60
+    if_changed:
+      - ".devcontainer/**"
+
+  - label: "Integration"
+    key: "integration"
+    command: ".buildkite/scripts/ci-integration.sh"
+    agents:
+      queue: "openmowernext-webots"
+    timeout_in_minutes: 180
+    concurrency: 1
+    concurrency_group: "openmowernext/webots"
+    if: |
+      build.source == "ui" ||
+      build.source == "api" ||
+      build.source == "schedule" ||
+      build.pull_request.labels includes "integration"
+    artifact_paths:
+      - "build/open_mower_next/test_results/**/*"
+      - "log/**/*"

.buildkite/scripts/ci-integration.sh

@@ -0,0 +1,64 @@
+#!/usr/bin/env bash
+
+set -euo pipefail
+
+docker run --rm \
+  --volume "$PWD:/workspace" \
+  --workdir /workspace \
+  --env ROS_DISTRO=jazzy \
+  --env DEBIAN_FRONTEND=noninteractive \
+  --env WEBOTS_OFFSCREEN=1 \
+  ros:jazzy \
+  bash -lc '
+    set -eo pipefail
+
+    apt-get update
+    apt-get install -y --no-install-recommends \
+      build-essential \
+      bzip2 \
+      ca-certificates \
+      cmake \
+      curl \
+      git \
+      libxcb-cursor0 \
+      python3-colcon-common-extensions \
+      python3-rosdep \
+      python3-vcstool \
+      xvfb
+
+    rosdep init >/dev/null 2>&1 || true
+    rosdep update
+
+    webots_root="${HOME}/.ros/webotsR2025a"
+    webots_home="${webots_root}/webots"
+    if [ ! -x "${webots_home}/webots" ]; then
+      rm -rf "${webots_root}"
+      mkdir -p "${webots_root}"
+      curl -L -o /tmp/webots-R2025a-x86-64.tar.bz2 \
+        https://github.com/cyberbotics/webots/releases/download/R2025a/webots-R2025a-x86-64.tar.bz2
+      tar -xjf /tmp/webots-R2025a-x86-64.tar.bz2 -C "${webots_root}"
+    fi
+    test -x "${webots_home}/webots"
+
+    export WEBOTS_HOME="${webots_home}"
+    export WEBOTS_OFFSCREEN=1
+
+    source /opt/ros/${ROS_DISTRO}/setup.bash
+    make custom-deps deps
+
+    make build-libs
+    source install/setup.bash
+    colcon build \
+      --symlink-install \
+      --packages-select open_mower_next \
+      --cmake-args -DOPEN_MOWER_NEXT_ENABLE_INTEGRATION_TESTS=ON
+
+    source install/setup.bash
+    colcon test \
+      --packages-select open_mower_next \
+      --event-handlers console_direct+ \
+      --ctest-args -L integration --output-on-failure
+    colcon test-result \
+      --test-result-base build/open_mower_next/test_results \
+      --verbose
+  '

.buildkite/scripts/ci-unit.sh

@@ -0,0 +1,44 @@
+#!/usr/bin/env bash
+
+set -euo pipefail
+
+docker run --rm \
+  --volume "$PWD:/workspace" \
+  --workdir /workspace \
+  --env ROS_DISTRO=jazzy \
+  --env DEBIAN_FRONTEND=noninteractive \
+  ros:jazzy \
+  bash -lc '
+    set -eo pipefail
+
+    apt-get update
+    apt-get install -y --no-install-recommends \
+      build-essential \
+      ca-certificates \
+      cmake \
+      curl \
+      git \
+      python3-colcon-common-extensions \
+      python3-rosdep \
+      python3-vcstool
+
+    rosdep init >/dev/null 2>&1 || true
+    rosdep update
+
+    source /opt/ros/${ROS_DISTRO}/setup.bash
+    make custom-deps deps
+
+    make build-libs
+
+    source install/setup.bash
+    colcon build --symlink-install --packages-select open_mower_next
+
+    source install/setup.bash
+    colcon test \
+      --packages-select open_mower_next \
+      --event-handlers console_direct+ \
+      --ctest-args -LE integration --output-on-failure
+    colcon test-result \
+      --test-result-base build/open_mower_next/test_results \
+      --verbose
+  '

.buildkite/scripts/docker-build.sh

@@ -0,0 +1,30 @@
+#!/usr/bin/env bash
+
+set -euo pipefail
+
+target="${1:-runtime}"
+commit="${BUILDKITE_COMMIT:-local}"
+tag="${commit:0:12}"
+
+case "$target" in
+  runtime)
+    image="openmowernext"
+    dockerfile="Dockerfile"
+    context="."
+    ;;
+  devcontainer)
+    image="openmowernext-devcontainer"
+    dockerfile=".devcontainer/Dockerfile"
+    context=".devcontainer"
+    ;;
+  *)
+    echo "unknown docker build target: $target" >&2
+    exit 2
+    ;;
+esac
+
+docker build \
+  --pull \
+  --file "$dockerfile" \
+  --tag "${image}:buildkite-${tag}" \
+  "$context"

.buildkite/scripts/docs-build.sh

@@ -0,0 +1,14 @@
+#!/usr/bin/env bash
+
+set -euo pipefail
+
+docker run --rm \
+  --volume "$PWD:/workspace" \
+  --workdir /workspace/docs \
+  node:18-bookworm \
+  bash -lc '
+    set -euo pipefail
+    npm ci
+    npm run docs:build
+    touch .vitepress/dist/.nojekyll
+  '

.buildkite/scripts/terraform-validate.sh

@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+
+set -euo pipefail
+
+docker run --rm \
+  --volume "$PWD:/workspace" \
+  --workdir /workspace \
+  --entrypoint sh \
+  hashicorp/terraform:1.9.8 \
+  -lc '
+    set -eu
+    terraform -chdir=infra/buildkite fmt -check
+    terraform -chdir=infra/buildkite init -backend=false -input=false
+    terraform -chdir=infra/buildkite validate
+  '

.devcontainer/default.env

@@ -1,3 +1,4 @@
+export ROS_AUTOMATIC_DISCOVERY_RANGE=${ROS_AUTOMATIC_DISCOVERY_RANGE:-LOCALHOST}
 export OM_DATUM_LAT=-22.9
 export OM_DATUM_LONG=-43.2
-export OM_MAP_PATH=.devcontainer/home/map.geojson
+export OM_MAP_PATH=maps/realistic_garden.geojson