From f1fcdb3275ac7e9dd58edf554498d05a87d61f9f Mon Sep 17 00:00:00 2001
From: Alex Thiele <alex@urbanmachine.build>
Date: Wed, 4 Dec 2024 08:23:59 -0800
Subject: [PATCH 01/29] Add first iteration of lint action

---
 .github/workflows/lint.yaml |  26 +++++++
 .github/workflows/test.yaml | 138 ++++++++++++++++++++++++++++++++++++
 2 files changed, 164 insertions(+)
 create mode 100644 .github/workflows/lint.yaml
 create mode 100644 .github/workflows/test.yaml

diff --git a/.github/workflows/lint.yaml b/.github/workflows/lint.yaml
new file mode 100644
index 0000000..884b529
--- /dev/null
+++ b/.github/workflows/lint.yaml
@@ -0,0 +1,26 @@
+name: Lint
+
+on: [ push, pull_request ]
+
+jobs:
+  build:
+    runs-on: ubuntu-24.04
+
+    steps:
+      - uses: actions/checkout@v4
+      - name: pip cache
+        uses: actions/cache@v4
+        with:
+          path: ~/.cache/pip
+          key: lint-pip-${{ hashFiles('**/pyproject.toml') }}
+          restore-keys: |
+            lint-pip-
+      - name: Set up Python 3.12
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.12'
+      - name: Install Python dependencies
+        run: |
+          python -m pip install --upgrade pip
+          python -m pip install --upgrade poetry
+          poetry install
diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
new file mode 100644
index 0000000..c0af5ab
--- /dev/null
+++ b/.github/workflows/test.yaml
@@ -0,0 +1,138 @@
+name: Test
+
+on: [ push ]
+
+jobs:
+  # This job builds the Docker image that will be used in the following test job.
+  # It also publishes the image to the GitHub Container Registry, so every PR can
+  # have an up-to-date image by the name of ghcr.io/GITHUB_USERNAME/PROJECT_NAME:BRANCH_NAME
+  build-image:
+    runs-on: ubuntu-24.04
+    env:
+      BUILT_IMAGE_NAME: ghcr.io/urbanmachine/node_helpers
+      PROJECT_NAME: node_helpers
+    defaults:
+      run:
+        shell: bash
+    steps:
+      - name: Prepare Build
+        id: prep
+        run: |
+          if [[ "${GITHUB_REF}" == "refs/heads/"* ]]
+          then
+            # This is a build on a branch
+            TAG=${GITHUB_REF#refs/heads/}
+          elif [[ "${GITHUB_REF}" == "refs/pull/"* ]]
+          then
+            # This is a PR build
+            TAG=${GITHUB_REF#refs/pull/}
+          elif [[ "${GITHUB_REF}" == "refs/tags/"* ]]
+          then
+            # This is a tagged build
+            TAG=${GITHUB_REF#refs/tags/}
+          else
+            echo "Unexpected reference format ${GITHUB_REF}"
+            exit 1
+          fi
+          
+          # Remove slashes, since they're not allowed in Docker tags
+          TAG=$(echo "${TAG}" | sed 's#/#-#g')
+          echo "tagged_image=${BUILT_IMAGE_NAME}:${TAG}" >> $GITHUB_OUTPUT
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v2
+      - name: Load Previous Docker Layers Cache
+        uses: actions/cache@v4
+        with:
+          path: /tmp/.buildx-cache
+          # Key is named differently to avoid collision
+          key: v1-${{ env.PROJECT_NAME }}-${{ runner.os }}-multi-buildx-${{ github.sha }}
+          restore-keys: v1-${{ env.PROJECT_NAME }}-${{ runner.os }}-multi-buildx
+      - name: Log in to GitHub Container Registry
+        run: echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u ${{ github.actor }} --password-stdin
+      - name: Checkout
+        uses: actions/checkout@v4
+        with:
+          lfs: true
+      - name: Get Base Image Name
+        id: get_base_image
+        run: |
+          source .env
+          echo "base_image=${BASE_IMAGE}" >> $GITHUB_OUTPUT
+      - name: Build and push
+        uses: docker/build-push-action@v4
+        with:
+          context: .
+          push: true
+          tags: ${{ steps.prep.outputs.tagged_image }}
+          build-args: |
+            BASE_IMAGE=${{ steps.get_base_image.outputs.base_image }}
+          cache-from: type=local,src=/tmp/.buildx-cache
+          # Note the mode=max here
+          # More: https://github.com/moby/buildkit#--export-cache-options
+          # And: https://github.com/docker/buildx#--cache-tonametypetypekeyvalue
+          cache-to: type=local,mode=max,dest=/tmp/.buildx-cache-new
+      # This is done to avoid storing outdated build steps in the cache, since
+      # BuildKit never clears stuff out of the cache itself
+      - name: Move cache
+        run: |
+          rm -rf /tmp/.buildx-cache
+          mv /tmp/.buildx-cache-new /tmp/.buildx-cache
+    outputs:
+      tagged_image: ${{ steps.prep.outputs.tagged_image }}
+
+  # This job runs the colcon tests for the project
+  ros-tests:
+    needs: build-image
+    # Run the build on a large runner, since limiting the CPU causes a weird persistent
+    # race condition which causes flaky tests in any test that uses a robot-state-publisher
+    # and joint-state-publisher.
+    runs-on: ubuntu-24.04
+    defaults:
+      run:
+        shell: bash
+    timeout-minutes: 40
+    container:
+      image: ${{needs.build-image.outputs.tagged_image}}
+      credentials:
+        username: ${{ github.actor }}
+        password: ${{ secrets.GITHUB_TOKEN }}
+      env:
+        GITHUB_WORKSPACE: /repo/
+    steps:
+      - name: Install Git LFS
+        run: sudo apt-get update && sudo apt-get install git-lfs
+      - name: Checkout
+        uses: actions/checkout@v4
+        with:
+          lfs: true
+      - name: Fix git error in the following line
+        # Caused by an update to git that dislikes when users of different ID's touch
+        # the same git directory, which happens when using a docker runner in CI
+        # https://github.blog/2022-04-12-git-security-vulnerability-announced/
+        # https://github.com/actions/checkout/issues/760
+        run: git config --global --add safe.directory ${GITHUB_WORKSPACE}
+      - name: Copy Python dependencies to github workspace
+        run: cp -r /robot/install .
+      - name: Copy build artifacts to github workspace
+        run: cp -r /robot/build .
+      - name: Move configuration files to /robot/config so hard paths are correct
+        run: cp -r ${GITHUB_WORKSPACE}/config /robot/
+      - name: Run tests
+        run: |
+          enter-workspaces colcon-test \
+          --pytest-with-coverage \
+          --test-result-base test-results \
+          --pytest-args \
+            --rootdir $(pwd) \
+            --durations=50
+      - name: Generate Test Report
+        uses: dorny/test-reporter@v1
+        if: always()
+        with:
+          name: "Test report"
+          path: test-results/**/*.xml
+          reporter: java-junit
+      - name: Report Codecov Coverage
+        uses: codecov/codecov-action@v3.1.0
+        with:
+          token: ${{ secrets.CODECOV_TOKEN }}
\ No newline at end of file

From 2e493a48545c1c66f6c10010958a5392f3ebc37a Mon Sep 17 00:00:00 2001
From: Alex Thiele <alex@urbanmachine.build>
Date: Wed, 4 Dec 2024 08:26:30 -0800
Subject: [PATCH 02/29] Point to the dockerfile

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

diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
index c0af5ab..9afe653 100644
--- a/.github/workflows/test.yaml
+++ b/.github/workflows/test.yaml
@@ -59,9 +59,10 @@ jobs:
           source .env
           echo "base_image=${BASE_IMAGE}" >> $GITHUB_OUTPUT
       - name: Build and push
-        uses: docker/build-push-action@v4
+        uses: docker/build-push-action@v5
         with:
           context: .
+          file: docker/Dockerfile
           push: true
           tags: ${{ steps.prep.outputs.tagged_image }}
           build-args: |

From 7c368b93396e2e69312b2f9dd8f747740717acca Mon Sep 17 00:00:00 2001
From: Alex Thiele <alex@urbanmachine.build>
Date: Wed, 4 Dec 2024 08:28:18 -0800
Subject: [PATCH 03/29] Woops. Forgot to actually run the linter

---
 .github/workflows/lint.yaml | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/.github/workflows/lint.yaml b/.github/workflows/lint.yaml
index 884b529..fb6243f 100644
--- a/.github/workflows/lint.yaml
+++ b/.github/workflows/lint.yaml
@@ -24,3 +24,11 @@ jobs:
           python -m pip install --upgrade pip
           python -m pip install --upgrade poetry
           poetry install
+      - name: Install JS linting dependencies
+        run: |
+          cd dashboard
+          npm install
+      - name: Install Bash dependencies
+        run: sudo apt-get install --yes shellcheck
+      - name: Lint
+        run: poetry run lint --languages all --mode check
\ No newline at end of file

From 9f55b6183b02a943c57c30f299b56d5d53aea671 Mon Sep 17 00:00:00 2001
From: Alex Thiele <alex@urbanmachine.build>
Date: Wed, 4 Dec 2024 08:31:16 -0800
Subject: [PATCH 04/29] Remove JS linter

---
 .github/workflows/lint.yaml | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/.github/workflows/lint.yaml b/.github/workflows/lint.yaml
index fb6243f..26e940b 100644
--- a/.github/workflows/lint.yaml
+++ b/.github/workflows/lint.yaml
@@ -24,10 +24,6 @@ jobs:
           python -m pip install --upgrade pip
           python -m pip install --upgrade poetry
           poetry install
-      - name: Install JS linting dependencies
-        run: |
-          cd dashboard
-          npm install
       - name: Install Bash dependencies
         run: sudo apt-get install --yes shellcheck
       - name: Lint

From b00b3b80d3bf020255467b196c51b0f064977606 Mon Sep 17 00:00:00 2001
From: Alex Thiele <alex@urbanmachine.build>
Date: Wed, 4 Dec 2024 08:46:10 -0800
Subject: [PATCH 05/29] Lint fixes

---
 pkgs/node_helpers/node_helpers/__init__.py                  | 6 ++++--
 .../node_helpers/node_helpers/parameters/parameter_mixin.py | 2 +-
 pkgs/node_helpers/node_helpers/sensors/binary_signal.py     | 6 +-----
 .../nodes/test_interactive_transform_publisher.py           | 1 -
 .../integration/sensors/test_binary_signal.py               | 2 +-
 .../node_helpers_test/unit/parameters/test_loading.py       | 2 +-
 6 files changed, 8 insertions(+), 11 deletions(-)

diff --git a/pkgs/node_helpers/node_helpers/__init__.py b/pkgs/node_helpers/node_helpers/__init__.py
index f033e76..4676aeb 100644
--- a/pkgs/node_helpers/node_helpers/__init__.py
+++ b/pkgs/node_helpers/node_helpers/__init__.py
@@ -1,4 +1,6 @@
 """**node_helpers**
 
-An opinionated ROS2 framework that minimizes boilerplate while maximizing reliability. Features intuitive APIs for parameter management, action handling, and error-resilient RPC. Designed by Urban Machine for safe and scalable robotics.
-"""
\ No newline at end of file
+An opinionated ROS2 framework that minimizes boilerplate while maximizing reliability.
+Features intuitive APIs for parameter management, action handling, and error-resilient
+RPC. Designed by Urban Machine for safe and scalable robotics.
+"""
diff --git a/pkgs/node_helpers/node_helpers/parameters/parameter_mixin.py b/pkgs/node_helpers/node_helpers/parameters/parameter_mixin.py
index ffa9a84..0a0847c 100644
--- a/pkgs/node_helpers/node_helpers/parameters/parameter_mixin.py
+++ b/pkgs/node_helpers/node_helpers/parameters/parameter_mixin.py
@@ -5,7 +5,7 @@
 
 from pydantic import BaseModel
 from pydantic_core import PydanticUndefined
-from rcl_interfaces.msg import ParameterDescriptor, SetParametersResult, ParameterValue
+from rcl_interfaces.msg import ParameterDescriptor, SetParametersResult
 from rclpy.exceptions import ParameterAlreadyDeclaredException, ParameterException
 from rclpy.node import Node
 from rclpy.parameter import Parameter
diff --git a/pkgs/node_helpers/node_helpers/sensors/binary_signal.py b/pkgs/node_helpers/node_helpers/sensors/binary_signal.py
index 3c4b8bd..dc3a789 100644
--- a/pkgs/node_helpers/node_helpers/sensors/binary_signal.py
+++ b/pkgs/node_helpers/node_helpers/sensors/binary_signal.py
@@ -35,11 +35,7 @@ def _to_rviz_msg(msg: BinaryReading) -> list[Marker]:
     ]
 
 
-class BinarySensor(
-    BaseSensorPublisher[
-        BinaryReading, bool, "BinarySensorFromFieldPublisher.Parameters"
-    ]
-):
+class BinarySensor(BaseSensorPublisher[BinaryReading, bool, "BinarySensor.Parameters"]):
     def __init__(self, node: Node, parameters: BaseSensorPublisher.Parameters):
         super().__init__(
             node=node,
diff --git a/pkgs/node_helpers/node_helpers_test/integration/nodes/test_interactive_transform_publisher.py b/pkgs/node_helpers/node_helpers_test/integration/nodes/test_interactive_transform_publisher.py
index 3ed2909..d0aaea4 100644
--- a/pkgs/node_helpers/node_helpers_test/integration/nodes/test_interactive_transform_publisher.py
+++ b/pkgs/node_helpers/node_helpers_test/integration/nodes/test_interactive_transform_publisher.py
@@ -1,5 +1,4 @@
 import contextlib
-import logging
 from collections.abc import Generator
 from queue import Empty
 from tempfile import NamedTemporaryFile
diff --git a/pkgs/node_helpers/node_helpers_test/integration/sensors/test_binary_signal.py b/pkgs/node_helpers/node_helpers_test/integration/sensors/test_binary_signal.py
index d8318c1..033a01d 100644
--- a/pkgs/node_helpers/node_helpers_test/integration/sensors/test_binary_signal.py
+++ b/pkgs/node_helpers/node_helpers_test/integration/sensors/test_binary_signal.py
@@ -50,7 +50,7 @@ def test_binary_sensor_from_rangefinder(node: ClientNode) -> None:
         threshold=1.0,
         inverted=False,
     )
-    binary_sensor = BinarySensorFromRangeFinder(
+    binary_sensor = BinarySensorFromRangeFinder(  # noqa: F841
         node=node,
         rangefinder=rangefinder_buffer,
         parameters=parameters,
diff --git a/pkgs/node_helpers/node_helpers_test/unit/parameters/test_loading.py b/pkgs/node_helpers/node_helpers_test/unit/parameters/test_loading.py
index c8990f4..b8974bc 100644
--- a/pkgs/node_helpers/node_helpers_test/unit/parameters/test_loading.py
+++ b/pkgs/node_helpers/node_helpers_test/unit/parameters/test_loading.py
@@ -78,7 +78,7 @@ def test_parameter_loader_file_saving() -> None:
     It also shouldn't include any meta parameters data."""
     with _parameter_directory(_BASE_PARAMETERS_YAML) as parameter_dir:
         loader: ParameterLoader[BaseModel] = ParameterLoader(
-             parameters_directory=parameter_dir
+            parameters_directory=parameter_dir
         )
 
     loaded_text = yaml.full_load(loader.ros_parameters_file.read_text())

From c5c36a78f6c1dcaf07ac87dbef859c82d8b52acc Mon Sep 17 00:00:00 2001
From: Alex Thiele <alex@urbanmachine.build>
Date: Wed, 4 Dec 2024 08:48:59 -0800
Subject: [PATCH 06/29] Test fixes

---
 .github/workflows/test.yaml | 10 ++--------
 1 file changed, 2 insertions(+), 8 deletions(-)

diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
index 9afe653..744210d 100644
--- a/.github/workflows/test.yaml
+++ b/.github/workflows/test.yaml
@@ -106,18 +106,12 @@ jobs:
         uses: actions/checkout@v4
         with:
           lfs: true
-      - name: Fix git error in the following line
-        # Caused by an update to git that dislikes when users of different ID's touch
-        # the same git directory, which happens when using a docker runner in CI
-        # https://github.blog/2022-04-12-git-security-vulnerability-announced/
-        # https://github.com/actions/checkout/issues/760
-        run: git config --global --add safe.directory ${GITHUB_WORKSPACE}
       - name: Copy Python dependencies to github workspace
         run: cp -r /robot/install .
       - name: Copy build artifacts to github workspace
         run: cp -r /robot/build .
-      - name: Move configuration files to /robot/config so hard paths are correct
-        run: cp -r ${GITHUB_WORKSPACE}/config /robot/
+      - name: Move launch-profile files to /robot/launch-profiles so hardcoded paths work
+        run: cp -r ${GITHUB_WORKSPACE}/launch-profiles /robot/
       - name: Run tests
         run: |
           enter-workspaces colcon-test \

From b477f6fbdd5c5f68bd15c5c338802c78a1dc15a5 Mon Sep 17 00:00:00 2001
From: Alex Thiele <alex@urbanmachine.build>
Date: Wed, 4 Dec 2024 10:13:22 -0800
Subject: [PATCH 07/29] Remove support for javascript

---
 .github/lint/lint_eslint.py | 13 -------------
 .github/lint/main.py        |  4 ----
 2 files changed, 17 deletions(-)
 delete mode 100644 .github/lint/lint_eslint.py

diff --git a/.github/lint/lint_eslint.py b/.github/lint/lint_eslint.py
deleted file mode 100644
index e27b616..0000000
--- a/.github/lint/lint_eslint.py
+++ /dev/null
@@ -1,13 +0,0 @@
-from shutil import which
-
-from .errors import CommandError
-from .paths import JS_PATH
-from .run_command import run_command
-
-
-def lint_eslint(fix: bool) -> None:
-    if which("npx") is None:
-        raise CommandError("Could not find the 'npx' command. Is Node.js installed?")
-
-    additional_args = ["--fix"] if fix else []
-    run_command(["npx", "eslint", *additional_args, "."], cwd=JS_PATH)
diff --git a/.github/lint/main.py b/.github/lint/main.py
index 2882acf..a007c19 100644
--- a/.github/lint/main.py
+++ b/.github/lint/main.py
@@ -6,7 +6,6 @@
 from .errors import CommandError
 from .lint_clang_format import lint_clang_format
 from .lint_darglint import lint_darglint
-from .lint_eslint import lint_eslint
 from .lint_mypy import lint_mypy
 from .lint_ruff import lint_ruff_check, lint_ruff_format
 from .lint_shellcheck import lint_shellcheck
@@ -26,9 +25,6 @@
         lint_darglint,
         lint_mypy,
     ],
-    JAVASCRIPT_LANGUAGE: [
-        lint_eslint,
-    ],
     CPP_LANGUAGE: [
         lint_clang_format,
     ],

From 366a71736d69270778b729c36d407aa5b486f009 Mon Sep 17 00:00:00 2001
From: Alex Thiele <alex@urbanmachine.build>
Date: Wed, 4 Dec 2024 11:08:41 -0800
Subject: [PATCH 08/29] Update cruft

---
 .cruft.json                                  | 3 ++-
 .github/lint/main.py                         | 1 -
 .github/lint/paths.py                        | 1 -
 docker/Dockerfile                            | 4 ++--
 docker/utils/environment/restore-build-cache | 9 ++++++---
 docker/utils/environment/save-build-cache    | 9 ++++++---
 docs/about_template.md                       | 2 +-
 7 files changed, 17 insertions(+), 12 deletions(-)

diff --git a/.cruft.json b/.cruft.json
index 914dbc2..6e70d39 100644
--- a/.cruft.json
+++ b/.cruft.json
@@ -1,6 +1,6 @@
 {
   "template": "git@github.com:UrbanMachine/create-ros-app.git",
-  "commit": "a4e77fcc6f6764f18d0785c030c60dda90e17ed6",
+  "commit": "4aaed60259a9622a4a92745866a8353a64cb12b8",
   "checkout": null,
   "context": {
     "cookiecutter": {
@@ -8,6 +8,7 @@
       "github_username_or_org": "urbanmachine",
       "dockerhub_username_or_org": "urbanmachine",
       "project_name": "node_helpers",
+      "__project_name_slug": "node_helpers",
       "project_description": "An opinionated ROS2 framework that minimizes boilerplate while maximizing reliability. Features intuitive APIs for parameter management, action handling, and error-resilient RPC. Designed by Urban Machine for safe and scalable robotics.",
       "version": "0.5.0",
       "license": "MIT",
diff --git a/.github/lint/main.py b/.github/lint/main.py
index a007c19..7c2636e 100644
--- a/.github/lint/main.py
+++ b/.github/lint/main.py
@@ -11,7 +11,6 @@
 from .lint_shellcheck import lint_shellcheck
 
 PYTHON_LANGUAGE = "python"
-JAVASCRIPT_LANGUAGE = "javascript"
 CPP_LANGUAGE = "cpp"
 BASH_LANGUAGE = "bash"
 ALL_LANGUAGES = "all"
diff --git a/.github/lint/paths.py b/.github/lint/paths.py
index 6a02790..2adbfac 100644
--- a/.github/lint/paths.py
+++ b/.github/lint/paths.py
@@ -11,7 +11,6 @@ def required_path(path_str: str) -> Path:
 
 ROS_PATH = required_path("pkgs")
 LINT_PATH = required_path(".github/lint")
-JS_PATH = Path()
 FIRMWARE_PATH = Path()
 LAUNCH_PATH = required_path("launch-profiles")
 
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 8ebc3cf..fdb9241 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -20,7 +20,7 @@ ENV NVIDIA_DRIVER_CAPABILITIES=all
 # Set variables for caches
 ENV APT_CACHE=/var/cache/apt
 ENV PIP_CACHE=/root/.cache/pip
-ENV BUILD_CACHE=/cache/build
+ENV BUILD_CACHE=/colcon-build-cache/node_helpers/
 
 # TODO: was opengl necessary?
 
@@ -116,7 +116,7 @@ RUN --mount=type=cache,target="${BUILD_CACHE}" restore-build-cache
 # Build all packages, copying project files under a root `/robot/` directory in the container
 COPY ../launch-profiles /robot/launch-profiles
 COPY ../pkgs /robot/pkgs
-RUN enter-workspaces colcon build --symlink-install
+RUN enter-workspaces colcon build
 RUN add-workspace /robot/install/setup.bash
 
 # Move the build cache back into the Docker cache mount so it can be reused on
diff --git a/docker/utils/environment/restore-build-cache b/docker/utils/environment/restore-build-cache
index d703556..1cc005c 100755
--- a/docker/utils/environment/restore-build-cache
+++ b/docker/utils/environment/restore-build-cache
@@ -1,6 +1,6 @@
 #!/usr/bin/env bash
 
-# Copies the build cache from `/cache` into a place where the build system can
+# Copies the build cache from a special dir into a place where the build system can
 # use it. Copying like this ensures that the build cache is present in the
 # final image, which is necessary for packages containing messages.
 
@@ -8,10 +8,13 @@ set -o errexit
 set -o pipefail
 set -o nounset
 
-if [[ ! -d "/cache/build" ]]; then
+# This directory is mounted by the Dockerfile and is unique to each project.
+BUILD_CACHE=/colcon-build-cache/node_helpers/
+
+if [[ ! -d "${BUILD_CACHE}" ]]; then
   echo "Build cache directory not mounted" >&2
   exit 1
 fi
 
 rm -rf /robot/build
-cp -r /cache/build /robot/build
+cp -r ${BUILD_CACHE} /robot/build
diff --git a/docker/utils/environment/save-build-cache b/docker/utils/environment/save-build-cache
index e744ff5..bb4a5e8 100755
--- a/docker/utils/environment/save-build-cache
+++ b/docker/utils/environment/save-build-cache
@@ -10,10 +10,13 @@ set -o nounset
 # Makes `*` include hidden files
 shopt -s dotglob
 
-if [[ ! -d "/cache/build" ]]; then
+# This directory is mounted by the Dockerfile and is unique to each project.
+BUILD_CACHE=/colcon-build-cache/node_helpers/
+
+if [[ ! -d "${BUILD_CACHE}" ]]; then
   echo "Build cache directory not mounted" >&2
   exit 1
 fi
 
-rm -rf /cache/build/*
-cp -r /robot/build/. /cache/build/.
+rm -rf ${BUILD_CACHE}*
+cp -r /robot/build/. ${BUILD_CACHE}.
diff --git a/docs/about_template.md b/docs/about_template.md
index dfeaaff..75cb371 100644
--- a/docs/about_template.md
+++ b/docs/about_template.md
@@ -12,7 +12,7 @@ This documentation walks through the features of the template, and how to use th
 Here's a quick guide on the features of this template
 
 ### Scripts
-- Linting and autoformatting for python (ruff), C++ (clangformat), bash (shellcheck), and javascript (eslint)
+- Linting and autoformatting for python (ruff), C++ (clangformat), bash (shellcheck)
   
   **Relevant Scripts:**
   ```shell

From adbea0b0dc03e92e125b3c3004e302e7d0ad1f5f Mon Sep 17 00:00:00 2001
From: Alex Thiele <alex@urbanmachine.build>
Date: Wed, 4 Dec 2024 11:19:27 -0800
Subject: [PATCH 09/29] Remove dash from colcon test

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

diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
index 744210d..dc381ce 100644
--- a/.github/workflows/test.yaml
+++ b/.github/workflows/test.yaml
@@ -114,7 +114,7 @@ jobs:
         run: cp -r ${GITHUB_WORKSPACE}/launch-profiles /robot/
       - name: Run tests
         run: |
-          enter-workspaces colcon-test \
+          enter-workspaces colcon test \
           --pytest-with-coverage \
           --test-result-base test-results \
           --pytest-args \

From 33ad607f7d9d60eb554f6d0000751787ffcdb386 Mon Sep 17 00:00:00 2001
From: Alex Thiele <alex@urbanmachine.build>
Date: Wed, 4 Dec 2024 11:47:37 -0800
Subject: [PATCH 10/29] Fix bash code that is failing lint

---
 docker/launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docker/launch b/docker/launch
index eff756a..32a69e8 100755
--- a/docker/launch
+++ b/docker/launch
@@ -27,7 +27,7 @@ set -o nounset
 function usage {
   echo "Usage: docker/launch [--no-pull] <launch-profile>" >&2
   echo "Available launch profiles are:" >&2
-  ls -1 launch-profiles/ | sed 's/^/      - /' >&2
+  find launch-profiles/ -maxdepth 1 -type d >&2
   echo "" >&2
   echo "Read more about 'launch-profiles' under 'docs/about_template.md'" >&2
   exit 1

From 2ae155677c71f3a6dbfc21e3c87842cf54797f8b Mon Sep 17 00:00:00 2001
From: Alex Thiele <alex@urbanmachine.build>
Date: Wed, 4 Dec 2024 12:20:58 -0800
Subject: [PATCH 11/29] Update template

---
 .cruft.json         | 2 +-
 docker-compose.yaml | 3 ++-
 docker/_shared.sh   | 3 ++-
 3 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/.cruft.json b/.cruft.json
index 6e70d39..bd44539 100644
--- a/.cruft.json
+++ b/.cruft.json
@@ -1,6 +1,6 @@
 {
   "template": "git@github.com:UrbanMachine/create-ros-app.git",
-  "commit": "4aaed60259a9622a4a92745866a8353a64cb12b8",
+  "commit": "3b888a4b97a8c8b08dad55f57c06c6e8c3007982",
   "checkout": null,
   "context": {
     "cookiecutter": {
diff --git a/docker-compose.yaml b/docker-compose.yaml
index 6e4947e..94e63de 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -23,7 +23,8 @@ services:
       - ${VOLUMES_DIRECTORY:- 'set in .env'}/ros-nodes:/robot/persistent
       # Mounts the 'launch-profiles/LAUNCH_PROFILE' directory into '/robot/launch-profile/'
       # This way you can save configuration files from GUI's like rviz right back to your source dir
-      - "./launch-profiles/${LAUNCH_PROFILE:- 'set in docker/_shared'}:/robot/launch-profile/"
+      # LAUNCH_PROFILE is set in docker/_shared.sh
+      - "./launch-profiles/${LAUNCH_PROFILE}:/robot/launch-profile/"
       # Necessary for display passthrough
       - "/tmp/.X11-unix:/tmp/.X11-unix:rw"
       # Necessary for PulseAudio passthrough
diff --git a/docker/_shared.sh b/docker/_shared.sh
index 95e03df..d4e6ad8 100644
--- a/docker/_shared.sh
+++ b/docker/_shared.sh
@@ -57,7 +57,8 @@ function is_stack_running() {
 # Then, the stack will be brought down.
 function deploy_and_wait {
   # Start the stack non-blockingly, because logs are best accessed via the web interface
-  LAUNCH_PROFILE="${1}" docker compose up --detach
+  export LAUNCH_PROFILE="${1}"
+  docker compose up --detach
 
   trap _catch_sigint INT
 

From eb4aed5eb419974bbceef4730af7a86c92b80775 Mon Sep 17 00:00:00 2001
From: Alex Thiele <alex@urbanmachine.build>
Date: Wed, 4 Dec 2024 12:40:37 -0800
Subject: [PATCH 12/29] Run separate test with safe.directory set

---
 .github/workflows/test.yaml | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
index dc381ce..b6f6dcf 100644
--- a/.github/workflows/test.yaml
+++ b/.github/workflows/test.yaml
@@ -106,6 +106,12 @@ jobs:
         uses: actions/checkout@v4
         with:
           lfs: true
+      - name: Fix git error in the following line
+        # Caused by an update to git that dislikes when users of different ID's touch
+        # the same git directory, which happens when using a docker runner in CI
+        # https://github.blog/2022-04-12-git-security-vulnerability-announced/
+        # https://github.com/actions/checkout/issues/760
+        run: git config --global --add safe.directory ${GITHUB_WORKSPACE}
       - name: Copy Python dependencies to github workspace
         run: cp -r /robot/install .
       - name: Copy build artifacts to github workspace

From 0d94fe7bb0ab09565531a6ad289f470ce6d2ebd2 Mon Sep 17 00:00:00 2001
From: Alex Thiele <alex@urbanmachine.build>
Date: Wed, 4 Dec 2024 12:41:27 -0800
Subject: [PATCH 13/29] Check upstream template when linting

---
 .github/workflows/lint.yaml | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/lint.yaml b/.github/workflows/lint.yaml
index 26e940b..61521c5 100644
--- a/.github/workflows/lint.yaml
+++ b/.github/workflows/lint.yaml
@@ -1,6 +1,6 @@
 name: Lint
 
-on: [ push, pull_request ]
+on: [ push ]
 
 jobs:
   build:
@@ -27,4 +27,6 @@ jobs:
       - name: Install Bash dependencies
         run: sudo apt-get install --yes shellcheck
       - name: Lint
-        run: poetry run lint --languages all --mode check
\ No newline at end of file
+        run: poetry run lint --languages all --mode check
+      - name: Check Upstream Template
+        run: poetry run cruft check
\ No newline at end of file

From 2490b00b63596886e2ac329b727b84513daec674 Mon Sep 17 00:00:00 2001
From: Alex Thiele <alex@urbanmachine.build>
Date: Wed, 4 Dec 2024 12:43:10 -0800
Subject: [PATCH 14/29] Add `cruft` as a dependency

---
 poetry.lock    | 683 ++++++++++++++++++++++++++++++++++++++++++++++++-
 pyproject.toml |   1 +
 2 files changed, 677 insertions(+), 7 deletions(-)

diff --git a/poetry.lock b/poetry.lock
index 8fa35db..d373047 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -11,6 +11,241 @@ files = [
     {file = "annotated_types-0.7.0.tar.gz", hash = "sha256:aff07c09a53a08bc8cfccb9c85b05f1aa9a2a6f23728d790723543408344ce89"},
 ]
 
+[[package]]
+name = "arrow"
+version = "1.3.0"
+description = "Better dates & times for Python"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "arrow-1.3.0-py3-none-any.whl", hash = "sha256:c728b120ebc00eb84e01882a6f5e7927a53960aa990ce7dd2b10f39005a67f80"},
+    {file = "arrow-1.3.0.tar.gz", hash = "sha256:d4540617648cb5f895730f1ad8c82a65f2dad0166f57b75f3ca54759c4d67a85"},
+]
+
+[package.dependencies]
+python-dateutil = ">=2.7.0"
+types-python-dateutil = ">=2.8.10"
+
+[package.extras]
+doc = ["doc8", "sphinx (>=7.0.0)", "sphinx-autobuild", "sphinx-autodoc-typehints", "sphinx_rtd_theme (>=1.3.0)"]
+test = ["dateparser (==1.*)", "pre-commit", "pytest", "pytest-cov", "pytest-mock", "pytz (==2021.1)", "simplejson (==3.*)"]
+
+[[package]]
+name = "binaryornot"
+version = "0.4.4"
+description = "Ultra-lightweight pure Python package to check if a file is binary or text."
+optional = false
+python-versions = "*"
+files = [
+    {file = "binaryornot-0.4.4-py2.py3-none-any.whl", hash = "sha256:b8b71173c917bddcd2c16070412e369c3ed7f0528926f70cac18a6c97fd563e4"},
+    {file = "binaryornot-0.4.4.tar.gz", hash = "sha256:359501dfc9d40632edc9fac890e19542db1a287bbcfa58175b66658392018061"},
+]
+
+[package.dependencies]
+chardet = ">=3.0.2"
+
+[[package]]
+name = "certifi"
+version = "2024.8.30"
+description = "Python package for providing Mozilla's CA Bundle."
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "certifi-2024.8.30-py3-none-any.whl", hash = "sha256:922820b53db7a7257ffbda3f597266d435245903d80737e34f8a45ff3e3230d8"},
+    {file = "certifi-2024.8.30.tar.gz", hash = "sha256:bec941d2aa8195e248a60b31ff9f0558284cf01a52591ceda73ea9afffd69fd9"},
+]
+
+[[package]]
+name = "chardet"
+version = "5.2.0"
+description = "Universal encoding detector for Python 3"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "chardet-5.2.0-py3-none-any.whl", hash = "sha256:e1cf59446890a00105fe7b7912492ea04b6e6f06d4b742b2c788469e34c82970"},
+    {file = "chardet-5.2.0.tar.gz", hash = "sha256:1b3b6ff479a8c414bc3fa2c0852995695c4a026dcd6d0633b2dd092ca39c1cf7"},
+]
+
+[[package]]
+name = "charset-normalizer"
+version = "3.4.0"
+description = "The Real First Universal Charset Detector. Open, modern and actively maintained alternative to Chardet."
+optional = false
+python-versions = ">=3.7.0"
+files = [
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+files = [
+    {file = "typer-0.15.1-py3-none-any.whl", hash = "sha256:7994fb7b8155b64d3402518560648446072864beefd44aa2dc36972a5972e847"},
+    {file = "typer-0.15.1.tar.gz", hash = "sha256:a0588c0a7fa68a1978a069818657778f86abe6ff5ea6abf472f940a08bfe4f0a"},
+]
+
+[package.dependencies]
+click = ">=8.0.0"
+rich = ">=10.11.0"
+shellingham = ">=1.3.0"
+typing-extensions = ">=3.7.4.3"
+
+[[package]]
+name = "types-python-dateutil"
+version = "2.9.0.20241003"
+description = "Typing stubs for python-dateutil"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "types-python-dateutil-2.9.0.20241003.tar.gz", hash = "sha256:58cb85449b2a56d6684e41aeefb4c4280631246a0da1a719bdbe6f3fb0317446"},
+    {file = "types_python_dateutil-2.9.0.20241003-py3-none-any.whl", hash = "sha256:250e1d8e80e7bbc3a6c99b907762711d1a1cdd00e978ad39cb5940f6f0a87f3d"},
 ]
 
 [[package]]
@@ -288,7 +940,24 @@ files = [
     {file = "typing_extensions-4.12.2.tar.gz", hash = "sha256:1a7ead55c7e559dd4dee8856e3a88b41225abfe1ce8df57b7c13915fe121ffb8"},
 ]
 
+[[package]]
+name = "urllib3"
+version = "2.2.3"
+description = "HTTP library with thread-safe connection pooling, file post, and more."
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "urllib3-2.2.3-py3-none-any.whl", hash = "sha256:ca899ca043dcb1bafa3e262d73aa25c465bfb49e0bd9dd5d59f1d0acba2f8fac"},
+    {file = "urllib3-2.2.3.tar.gz", hash = "sha256:e7d814a81dad81e6caf2ec9fdedb284ecc9c73076b62654547cc64ccdcae26e9"},
+]
+
+[package.extras]
+brotli = ["brotli (>=1.0.9)", "brotlicffi (>=0.8.0)"]
+h2 = ["h2 (>=4,<5)"]
+socks = ["pysocks (>=1.5.6,!=1.5.7,<2.0)"]
+zstd = ["zstandard (>=0.18.0)"]
+
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.10.0,<4.0"
-content-hash = "ce149eac139875f53d7ae274eaa162b9a35aca465d5aac6216c150c020c9b4e9"
+content-hash = "eb1a26b146907f16c8f17da50358714e5bcfa63e8d9ee9a9ad7218e894776532"
diff --git a/pyproject.toml b/pyproject.toml
index cc8b390..ffd0c2b 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -15,6 +15,7 @@ python = ">=3.10.0,<4.0"
 [tool.poetry.dev-dependencies]
 mypy = "^1.9.0"
 ruff = "^0.3.3"
+cruft = "^2.15.0"
 
 # Remove darglint once ruff adds support for the rules.
 # Tracking: https://github.com/astral-sh/ruff/issues/458

From 8e33cef7a5024746e7c0f669ffa9f74f7c69cfc7 Mon Sep 17 00:00:00 2001
From: Alex Thiele <alex@urbanmachine.build>
Date: Wed, 4 Dec 2024 12:46:23 -0800
Subject: [PATCH 15/29] Separate linting vs checking cruft into two pipelines

---
 .github/workflows/lint.yaml | 26 +++++++++++++++++++++++++-
 1 file changed, 25 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/lint.yaml b/.github/workflows/lint.yaml
index 61521c5..17630dd 100644
--- a/.github/workflows/lint.yaml
+++ b/.github/workflows/lint.yaml
@@ -3,7 +3,7 @@ name: Lint
 on: [ push ]
 
 jobs:
-  build:
+  check_lint:
     runs-on: ubuntu-24.04
 
     steps:
@@ -28,5 +28,29 @@ jobs:
         run: sudo apt-get install --yes shellcheck
       - name: Lint
         run: poetry run lint --languages all --mode check
+      - name: Check Upstream Template
+        run: poetry run cruft check
+
+  check_upstream_template:
+    runs-on: ubuntu-24.04
+
+    steps:
+      - uses: actions/checkout@v4
+      - name: pip cache
+        uses: actions/cache@v4
+        with:
+          path: ~/.cache/pip
+          key: lint-pip-${{ hashFiles('**/pyproject.toml') }}
+          restore-keys: |
+            lint-pip-
+      - name: Set up Python 3.12
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.12'
+      - name: Install Python dependencies
+        run: |
+          python -m pip install --upgrade pip
+          python -m pip install --upgrade poetry
+          poetry install
       - name: Check Upstream Template
         run: poetry run cruft check
\ No newline at end of file

From 3eab7d6579ba5b1ddac7387475ef1adb6252f22e Mon Sep 17 00:00:00 2001
From: Alex Thiele <alex@urbanmachine.build>
Date: Wed, 4 Dec 2024 12:54:37 -0800
Subject: [PATCH 16/29] Try to fix cloning errors

---
 .cruft.json | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.cruft.json b/.cruft.json
index bd44539..1be4a69 100644
--- a/.cruft.json
+++ b/.cruft.json
@@ -1,5 +1,5 @@
 {
-  "template": "git@github.com:UrbanMachine/create-ros-app.git",
+  "template": "https://github.com/UrbanMachine/create-ros-app.git",
   "commit": "3b888a4b97a8c8b08dad55f57c06c6e8c3007982",
   "checkout": null,
   "context": {

From a2df9c274adb21e38aaf7dacd85182ab858f4117 Mon Sep 17 00:00:00 2001
From: Alex Thiele <alex@urbanmachine.build>
Date: Wed, 4 Dec 2024 12:54:43 -0800
Subject: [PATCH 17/29] Try to fix cloning errors

---
 .github/workflows/lint.yaml | 2 --
 1 file changed, 2 deletions(-)

diff --git a/.github/workflows/lint.yaml b/.github/workflows/lint.yaml
index 17630dd..6ccad12 100644
--- a/.github/workflows/lint.yaml
+++ b/.github/workflows/lint.yaml
@@ -28,8 +28,6 @@ jobs:
         run: sudo apt-get install --yes shellcheck
       - name: Lint
         run: poetry run lint --languages all --mode check
-      - name: Check Upstream Template
-        run: poetry run cruft check
 
   check_upstream_template:
     runs-on: ubuntu-24.04

From f77afa3c646555470d8c7dce077a193b023c28e5 Mon Sep 17 00:00:00 2001
From: Alex Thiele <alex@urbanmachine.build>
Date: Wed, 4 Dec 2024 13:12:16 -0800
Subject: [PATCH 18/29] Don't bother copying build artifacts

---
 .github/workflows/test.yaml | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
index b6f6dcf..9eb4772 100644
--- a/.github/workflows/test.yaml
+++ b/.github/workflows/test.yaml
@@ -109,13 +109,12 @@ jobs:
       - name: Fix git error in the following line
         # Caused by an update to git that dislikes when users of different ID's touch
         # the same git directory, which happens when using a docker runner in CI
+        # This fixes test reporting in the `Generate Test Report` section
         # https://github.blog/2022-04-12-git-security-vulnerability-announced/
         # https://github.com/actions/checkout/issues/760
         run: git config --global --add safe.directory ${GITHUB_WORKSPACE}
       - name: Copy Python dependencies to github workspace
         run: cp -r /robot/install .
-      - name: Copy build artifacts to github workspace
-        run: cp -r /robot/build .
       - name: Move launch-profile files to /robot/launch-profiles so hardcoded paths work
         run: cp -r ${GITHUB_WORKSPACE}/launch-profiles /robot/
       - name: Run tests

From 118a79f8d850f90d634b3daa89e9311c9744933e Mon Sep 17 00:00:00 2001
From: Alex Thiele <alex@urbanmachine.build>
Date: Wed, 4 Dec 2024 13:19:45 -0800
Subject: [PATCH 19/29] Run tree

---
 .github/workflows/test.yaml | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
index 9eb4772..17ae23a 100644
--- a/.github/workflows/test.yaml
+++ b/.github/workflows/test.yaml
@@ -115,8 +115,12 @@ jobs:
         run: git config --global --add safe.directory ${GITHUB_WORKSPACE}
       - name: Copy Python dependencies to github workspace
         run: cp -r /robot/install .
+      - name: Copy build artifacts to github workspace
+        run: cp -r /robot/build .
       - name: Move launch-profile files to /robot/launch-profiles so hardcoded paths work
         run: cp -r ${GITHUB_WORKSPACE}/launch-profiles /robot/
+      - name:
+        run: sudo apt-get install tree && tree
       - name: Run tests
         run: |
           enter-workspaces colcon test \

From e6f9e644b06f0ecb253f7a5822e00f77791cc464 Mon Sep 17 00:00:00 2001
From: Alex Thiele <alex@urbanmachine.build>
Date: Wed, 4 Dec 2024 13:20:46 -0800
Subject: [PATCH 20/29] Update template

---
 .cruft.json         | 4 ++--
 docker-compose.yaml | 2 --
 2 files changed, 2 insertions(+), 4 deletions(-)

diff --git a/.cruft.json b/.cruft.json
index 1be4a69..d2c19fe 100644
--- a/.cruft.json
+++ b/.cruft.json
@@ -1,6 +1,6 @@
 {
   "template": "https://github.com/UrbanMachine/create-ros-app.git",
-  "commit": "3b888a4b97a8c8b08dad55f57c06c6e8c3007982",
+  "commit": "a23c422c9e9dbbaf1480534efb17b14d57453e8e",
   "checkout": null,
   "context": {
     "cookiecutter": {
@@ -18,7 +18,7 @@
       "example_launch_profile": "node_helpers_showcase",
       "example_package_version": "0.5.0",
       "__example_messages_package_name": "node_helpers_msgs",
-      "_template": "git@github.com:UrbanMachine/create-ros-app.git"
+      "_template": "https://github.com/UrbanMachine/create-ros-app.git"
     }
   },
   "directory": null
diff --git a/docker-compose.yaml b/docker-compose.yaml
index 94e63de..f2418ed 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -76,8 +76,6 @@ services:
   loki:
     image: grafana/loki:3.2.1
     user: "root"
-    ports:
-      - 3100:3100
     volumes:
       - ${VOLUMES_DIRECTORY:- 'set in .env'}/loki:/loki
     <<: *common-config

From 5f6b1294c2906412e3c42c81875913a089539dbb Mon Sep 17 00:00:00 2001
From: Alex Thiele <alex@urbanmachine.build>
Date: Wed, 4 Dec 2024 13:24:11 -0800
Subject: [PATCH 21/29] Try not building

---
 .github/workflows/test.yaml | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
index 17ae23a..c1e8f89 100644
--- a/.github/workflows/test.yaml
+++ b/.github/workflows/test.yaml
@@ -113,10 +113,6 @@ jobs:
         # https://github.blog/2022-04-12-git-security-vulnerability-announced/
         # https://github.com/actions/checkout/issues/760
         run: git config --global --add safe.directory ${GITHUB_WORKSPACE}
-      - name: Copy Python dependencies to github workspace
-        run: cp -r /robot/install .
-      - name: Copy build artifacts to github workspace
-        run: cp -r /robot/build .
       - name: Move launch-profile files to /robot/launch-profiles so hardcoded paths work
         run: cp -r ${GITHUB_WORKSPACE}/launch-profiles /robot/
       - name:

From 0725644634f4f04817e0fbef3cf00f4adca2f724 Mon Sep 17 00:00:00 2001
From: Alex Thiele <alex@urbanmachine.build>
Date: Wed, 4 Dec 2024 13:29:17 -0800
Subject: [PATCH 22/29] Try copying the tests in too?

---
 .dockerignore               | 3 +--
 .github/workflows/test.yaml | 4 ++++
 2 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/.dockerignore b/.dockerignore
index 15d5985..6f27621 100644
--- a/.dockerignore
+++ b/.dockerignore
@@ -2,5 +2,4 @@
 .github
 .docker_volumes
 .docker_cache
-.mypy_cache
-pkgs/*/*_test
+.mypy_cache
\ No newline at end of file
diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
index c1e8f89..17ae23a 100644
--- a/.github/workflows/test.yaml
+++ b/.github/workflows/test.yaml
@@ -113,6 +113,10 @@ jobs:
         # https://github.blog/2022-04-12-git-security-vulnerability-announced/
         # https://github.com/actions/checkout/issues/760
         run: git config --global --add safe.directory ${GITHUB_WORKSPACE}
+      - name: Copy Python dependencies to github workspace
+        run: cp -r /robot/install .
+      - name: Copy build artifacts to github workspace
+        run: cp -r /robot/build .
       - name: Move launch-profile files to /robot/launch-profiles so hardcoded paths work
         run: cp -r ${GITHUB_WORKSPACE}/launch-profiles /robot/
       - name:

From bd34ebe29e3aef48482751680a663765e7dd9bb2 Mon Sep 17 00:00:00 2001
From: Alex Thiele <alex@urbanmachine.build>
Date: Wed, 4 Dec 2024 13:34:03 -0800
Subject: [PATCH 23/29] Let's try just building each time?

---
 .github/workflows/test.yaml | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
index 17ae23a..57e13f9 100644
--- a/.github/workflows/test.yaml
+++ b/.github/workflows/test.yaml
@@ -114,11 +114,7 @@ jobs:
         # https://github.com/actions/checkout/issues/760
         run: git config --global --add safe.directory ${GITHUB_WORKSPACE}
       - name: Copy Python dependencies to github workspace
-        run: cp -r /robot/install .
-      - name: Copy build artifacts to github workspace
-        run: cp -r /robot/build .
-      - name: Move launch-profile files to /robot/launch-profiles so hardcoded paths work
-        run: cp -r ${GITHUB_WORKSPACE}/launch-profiles /robot/
+        run: enter-workspaces colcon build
       - name:
         run: sudo apt-get install tree && tree
       - name: Run tests

From 4af5130ccf4ab4bf83edc2cb4b57dbdb7e0d1f39 Mon Sep 17 00:00:00 2001
From: Alex Thiele <alex@urbanmachine.build>
Date: Wed, 4 Dec 2024 13:39:56 -0800
Subject: [PATCH 24/29] Try 3

---
 .dockerignore               | 3 ++-
 .github/workflows/test.yaml | 8 ++++++--
 2 files changed, 8 insertions(+), 3 deletions(-)

diff --git a/.dockerignore b/.dockerignore
index 6f27621..15d5985 100644
--- a/.dockerignore
+++ b/.dockerignore
@@ -2,4 +2,5 @@
 .github
 .docker_volumes
 .docker_cache
-.mypy_cache
\ No newline at end of file
+.mypy_cache
+pkgs/*/*_test
diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
index 57e13f9..e74ac91 100644
--- a/.github/workflows/test.yaml
+++ b/.github/workflows/test.yaml
@@ -114,8 +114,12 @@ jobs:
         # https://github.com/actions/checkout/issues/760
         run: git config --global --add safe.directory ${GITHUB_WORKSPACE}
       - name: Copy Python dependencies to github workspace
-        run: enter-workspaces colcon build
-      - name:
+        run: cp -r /robot/install install
+      - name: Build packages
+        run: colcon build
+      - name: Move launch-profile files to /robot/launch-profiles so hardcoded paths work
+        run: cp -r ${GITHUB_WORKSPACE}/launch-profiles /robot/
+      - name: DELETE ME
         run: sudo apt-get install tree && tree
       - name: Run tests
         run: |

From 5e14f409a036069b24313817344820316c080720 Mon Sep 17 00:00:00 2001
From: Alex Thiele <alex@urbanmachine.build>
Date: Wed, 4 Dec 2024 14:02:20 -0800
Subject: [PATCH 25/29] Try 4

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

diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
index e74ac91..0f198ab 100644
--- a/.github/workflows/test.yaml
+++ b/.github/workflows/test.yaml
@@ -125,9 +125,9 @@ jobs:
         run: |
           enter-workspaces colcon test \
           --pytest-with-coverage \
+          --base-paths pkgs \
           --test-result-base test-results \
           --pytest-args \
-            --rootdir $(pwd) \
             --durations=50
       - name: Generate Test Report
         uses: dorny/test-reporter@v1

From 5209a01f5a5e92feb34fe68b6769f008b17e9c02 Mon Sep 17 00:00:00 2001
From: Alex Thiele <alex@urbanmachine.build>
Date: Wed, 4 Dec 2024 14:09:11 -0800
Subject: [PATCH 26/29] Remove colcon build

---
 .github/workflows/test.yaml | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
index 0f198ab..e7b8f70 100644
--- a/.github/workflows/test.yaml
+++ b/.github/workflows/test.yaml
@@ -115,12 +115,8 @@ jobs:
         run: git config --global --add safe.directory ${GITHUB_WORKSPACE}
       - name: Copy Python dependencies to github workspace
         run: cp -r /robot/install install
-      - name: Build packages
-        run: colcon build
       - name: Move launch-profile files to /robot/launch-profiles so hardcoded paths work
         run: cp -r ${GITHUB_WORKSPACE}/launch-profiles /robot/
-      - name: DELETE ME
-        run: sudo apt-get install tree && tree
       - name: Run tests
         run: |
           enter-workspaces colcon test \

From ede98535a0c1feb448b324d314c1255b4bc315a1 Mon Sep 17 00:00:00 2001
From: Alex Thiele <alex@urbanmachine.build>
Date: Wed, 4 Dec 2024 14:14:36 -0800
Subject: [PATCH 27/29] Remove base packages

---
 .github/workflows/test.yaml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
index e7b8f70..6b7e0b4 100644
--- a/.github/workflows/test.yaml
+++ b/.github/workflows/test.yaml
@@ -121,7 +121,6 @@ jobs:
         run: |
           enter-workspaces colcon test \
           --pytest-with-coverage \
-          --base-paths pkgs \
           --test-result-base test-results \
           --pytest-args \
             --durations=50

From 30cdc4cebe7974bc11590e36a75db40014e58262 Mon Sep 17 00:00:00 2001
From: Alex Thiele <alex@urbanmachine.build>
Date: Thu, 5 Dec 2024 07:59:05 -0800
Subject: [PATCH 28/29] Try copying build in again...

---
 .github/workflows/test.yaml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
index 6b7e0b4..8320698 100644
--- a/.github/workflows/test.yaml
+++ b/.github/workflows/test.yaml
@@ -115,11 +115,14 @@ jobs:
         run: git config --global --add safe.directory ${GITHUB_WORKSPACE}
       - name: Copy Python dependencies to github workspace
         run: cp -r /robot/install install
+      - name: Copy Build output to github workspace
+        run: cp -r /robot/install build
       - name: Move launch-profile files to /robot/launch-profiles so hardcoded paths work
         run: cp -r ${GITHUB_WORKSPACE}/launch-profiles /robot/
       - name: Run tests
         run: |
           enter-workspaces colcon test \
+          --base-paths pkgs \
           --pytest-with-coverage \
           --test-result-base test-results \
           --pytest-args \

From e2841fbdb00bba65e849a8d631bdfe2365c448d5 Mon Sep 17 00:00:00 2001
From: Alex Thiele <alex@urbanmachine.build>
Date: Thu, 5 Dec 2024 08:38:52 -0800
Subject: [PATCH 29/29] Update Template

---
 .cruft.json                 | 2 +-
 .github/workflows/lint.yaml | 3 ++-
 .github/workflows/test.yaml | 8 +++-----
 3 files changed, 6 insertions(+), 7 deletions(-)

diff --git a/.cruft.json b/.cruft.json
index d2c19fe..de59006 100644
--- a/.cruft.json
+++ b/.cruft.json
@@ -1,6 +1,6 @@
 {
   "template": "https://github.com/UrbanMachine/create-ros-app.git",
-  "commit": "a23c422c9e9dbbaf1480534efb17b14d57453e8e",
+  "commit": "8c8e34317b3cf0db5459958d7a50accfd0cc93cd",
   "checkout": null,
   "context": {
     "cookiecutter": {
diff --git a/.github/workflows/lint.yaml b/.github/workflows/lint.yaml
index 6ccad12..22b04a0 100644
--- a/.github/workflows/lint.yaml
+++ b/.github/workflows/lint.yaml
@@ -1,3 +1,4 @@
+
 name: Lint
 
 on: [ push ]
@@ -51,4 +52,4 @@ jobs:
           python -m pip install --upgrade poetry
           poetry install
       - name: Check Upstream Template
-        run: poetry run cruft check
\ No newline at end of file
+        run: poetry run cruft check
diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
index 8320698..387a4f3 100644
--- a/.github/workflows/test.yaml
+++ b/.github/workflows/test.yaml
@@ -11,11 +11,12 @@ jobs:
     env:
       BUILT_IMAGE_NAME: ghcr.io/urbanmachine/node_helpers
       PROJECT_NAME: node_helpers
+
     defaults:
       run:
         shell: bash
     steps:
-      - name: Prepare Build
+      - name: Create A Unique Tag For This Image Based On Branch Name
         id: prep
         run: |
           if [[ "${GITHUB_REF}" == "refs/heads/"* ]]
@@ -84,9 +85,6 @@ jobs:
   # This job runs the colcon tests for the project
   ros-tests:
     needs: build-image
-    # Run the build on a large runner, since limiting the CPU causes a weird persistent
-    # race condition which causes flaky tests in any test that uses a robot-state-publisher
-    # and joint-state-publisher.
     runs-on: ubuntu-24.04
     defaults:
       run:
@@ -137,4 +135,4 @@ jobs:
       - name: Report Codecov Coverage
         uses: codecov/codecov-action@v3.1.0
         with:
-          token: ${{ secrets.CODECOV_TOKEN }}
\ No newline at end of file
+          token: ${{ secrets.CODECOV_TOKEN }}