feat: Update CI

.github/.release-please-manifest.json

@@ -0,0 +1,3 @@
+{
+  ".": "0.1.0"
+}

.github/release-please-config.json

@@ -0,0 +1,25 @@
+{
+  "packages": {
+    ".": {
+      "changelog-path": "CHANGELOG.md",
+      "release-type": "python",
+      "bump-minor-pre-major": true,
+      "bump-patch-for-minor-pre-major": true,
+      "extra-files": [
+        "ros/pixi.toml",
+        "CMakeLists.txt",
+        {
+          "path": "ros/pixi.toml",
+          "type": "xml",
+          "xpath": "//package/version"
+        },
+        {
+          "type": "json",
+          "path": "vcpkg.json",
+          "jsonpath": "$.version"
+        }
+      ]
+    }
+  },
+  "$schema": "https://raw.githubusercontent.com/googleapis/release-please/main/schemas/config.json"
+}

.github/scripts/vcpkg.sh

@@ -0,0 +1,5 @@
+git clone https://github.com/microsoft/vcpkg.git .vcpkg/
+cd .vcpkg
+git switch --detach 2026.02.27
+cd ..
+./.vcpkg/bootstrap-vcpkg.sh

.github/workflows/on_main.yml

@@ -0,0 +1,46 @@
+name: Main
+
+on:
+  push:
+    branches:
+      - main
+
+permissions:
+  contents: write
+  pull-requests: write
+
+jobs:
+  # Release Please to create releases
+  release:
+    name: Release Please
+    runs-on: ubuntu-latest
+    outputs:
+      # fromJSON to convert string "true"/"false" to boolean
+      # https://github.com/googleapis/release-please-action/issues/912#issuecomment-2024459449
+      releases_created: ${{ steps.release.outputs.releases_created }}
+      tag_name: ${{ steps.release.outputs.tag_name }}
+    steps:
+      - uses: googleapis/release-please-action@v4
+        id: release
+        with:
+          config-file: .github/release-please-config.json
+          manifest-file: .github/.release-please-manifest.json
+          token: ${{ secrets.RELEASE_PLEASE_GITHUB_TOKEN }}
+
+  # Always run checks
+  checks:
+    name: Checks
+    uses: ./.github/workflows/reusable_checks.yml
+    secrets: inherit
+
+  # Build main Python package
+  build:
+    name: Build
+    uses: ./.github/workflows/reusable_build.yml
+    secrets: inherit
+
+  # Build ROS 2 package
+  build_ros:
+    name: Build ROS
+    uses: ./.github/workflows/reusable_build_ros.yml
+    secrets: inherit

.github/workflows/on_pr.yml

@@ -0,0 +1,24 @@
+name: PR
+
+on:
+  pull_request:
+    branches: ["main"]
+
+jobs:
+  # Always run checks
+  checks:
+    name: Checks
+    uses: ./.github/workflows/reusable_checks.yml
+    secrets: inherit
+
+  # Build main Python package
+  build:
+    name: Build
+    uses: ./.github/workflows/reusable_build.yml
+    secrets: inherit
+
+  # Build ROS 2 package
+  build_ros:
+    name: Build ROS
+    uses: ./.github/workflows/reusable_build_ros.yml
+    secrets: inherit

.github/workflows/reusable_build.yml

@@ -0,0 +1,40 @@
+name: "Build Python package"
+
+on:
+  workflow_call:
+
+jobs:
+  build:
+    runs-on: ${{ matrix.os }}
+    env:
+      VCPKG_BINARY_SOURCES: ${{ vars.VCPKG_BINARY_SOURCES }}
+      AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+      AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+      AWS_ENDPOINT_URL: ${{ secrets.AWS_ENDPOINT_URL }}
+      # only required until R2 supports CRC64NVME checksums
+      # https://community.cloudflare.com/t/an-error-occurred-internalerror-when-calling-the-putobject-operation/764905/11
+      AWS_REQUEST_CHECKSUM_CALCULATION: when_required
+      AWS_RESPONSE_CHECKSUM_VALIDATION: when_required
+    strategy:
+      fail-fast: false
+      matrix:
+        os:
+          - ubuntu-latest
+        python-version:
+          - "3.11"
+          - "3.14"
+    steps:
+      - uses: actions/checkout@v4
+        name: Checkout
+
+      - name: Install vcpkg
+        run: ./.github/scripts/vcpkg.sh
+
+      - name: Install uv
+        uses: astral-sh/setup-uv@v5
+        with:
+          python-version: ${{ matrix.python-version }}
+          enable-cache: true
+
+      - name: Build and install the project
+        run: uv sync --verbose

.github/workflows/reusable_build_ros.yml

@@ -0,0 +1,22 @@
+name: "Build ROS 2 package"
+
+on:
+  workflow_call:
+
+jobs:
+  build_ros:
+    name: Build ROS (linux-64)
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        name: Checkout
+
+      - uses: prefix-dev/[email protected]
+        name: Setup pixi
+        with:
+          pixi-version: v0.41.4
+          manifest-path: ros/pixi.toml
+          cache: true
+
+      - name: Build ROS 2 package
+        run: pixi run --manifest-path ros/pixi.toml build

.github/workflows/reusable_checks.yml

@@ -0,0 +1,27 @@
+name: "Checks: Lint and Types"
+
+on:
+  workflow_call:
+
+jobs:
+  # Check Python formatting
+  ruff:
+    name: Ruff
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        name: Checkout
+      - uses: astral-sh/ruff-action@v3
+        name: Ruff
+
+  # Check C++ formatting
+  clang-format:
+    name: Clang-Format
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        name: Checkout
+      - uses: jidicula/[email protected]
+        name: Clang-Format
+        with:
+          clang-format-version: '22'

.gitignore

@@ -1,8 +1,5 @@
 build*
 .cache
-# pixi environments
-.pixi
-*.egg-info
 compile_commands.json
 
 # ros env
@@ -24,6 +21,7 @@ log
 *.synctex
 *.run.xml
 *.rrd
+.vcpkg*
 
 # python
 __pycache__
@@ -35,3 +33,4 @@ evalio_results
 *.png
 figures
 graphics*
+*.mp4

CMakeLists.txt

@@ -1,3 +1,10 @@
+# First thing, we check if vcpkg is installed and if so, use it for dependencies
+if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/.vcpkg/scripts/buildsystems/vcpkg.cmake")
+    set(CMAKE_TOOLCHAIN_FILE
+        "${CMAKE_CURRENT_SOURCE_DIR}/.vcpkg/scripts/buildsystems/vcpkg.cmake"
+    )
+endif()
+
 cmake_minimum_required(VERSION 3.16)
 
 project(form

README.md

@@ -4,7 +4,7 @@
 <br />
 <br />
 <a href="https://github.com/rpl-cmu/form/releases"><img src="https://img.shields.io/github/v/release/rpl-cmu/form" /></a>
-<a href="https://github.com/rpl-cmu/form/actions/workflows/ci.yml"><img src="https://img.shields.io/github/actions/workflow/status/rpl-cmu/form/ci.yml" /></a>
+<a href="https://github.com/rpl-cmu/form/actions/workflows/on_main.yml"><img src="https://img.shields.io/github/actions/workflow/status/rpl-cmu/form/on_main.yml" /></a>
 <a href="https://github.com/rpl-cmu/form/blob/master/LICENSE"><img src="https://img.shields.io/github/license/rpl-cmu/form" /></a>
 <a href="https://arxiv.org/abs/2510.09966"><img src="https://img.shields.io/badge/arXiv-2510.09966-b31b1b.svg" /></a>
 <br />

pyproject.toml

@@ -15,21 +15,21 @@ dependencies = [
     "seaborn>=0.13.2",
 ]
 
-[tool.scikit-build]
-minimum-version = "build-system.requires"
-build-dir = "build/{wheel_tag}"
+[dependency-groups]
+dev = ["snakeviz>=2.2.2"]
 
 [build-system]
 requires = ["scikit-build-core>=0.10", "nanobind", "evalio>=0.4"]
 build-backend = "scikit_build_core.build"
 
-[dependency-groups]
-dev = ["snakeviz>=2.2.2"]
+[tool.scikit-build]
+minimum-version = "build-system.requires"
+build-dir = "build/{wheel_tag}"
 
 [tool.scikit-build.cmake.define]
 FORM_BUILD_PYTHON = true
 CMAKE_BUILD_TYPE = "Release"
-# CMAKE_BUILD_TYPE = "RelWithDebInfo"
+VCPKG_INSTALLED_DIR = "./.vcpkg_installed"
 
 [tool.basedpyright]
 typeCheckingMode = "standard"

ros/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.16...3.26)
-project(form VERSION 0.1.0 LANGUAGES CXX)
+project(form VERSION 0.1.0 LANGUAGES CXX) # x-release-please-version
 
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 

ros/pixi.toml

@@ -3,7 +3,7 @@ authors = ["Easton Potokar <[email protected]>"]
 channels = ["robostack-jazzy", "conda-forge"]
 name = "ros"
 platforms = ["linux-64"]
-version = "0.1.0"
+version = "0.1.0"                                  # x-release-please-version
 
 [activation]
 scripts = ["install/setup.sh"]

ros/src/ros_pc2.h

@@ -186,20 +186,21 @@ PointCloud2ToForm(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &msg,
     } else if (field.name == "z") {
       func_z = data_getter<float>(field.datatype, field.offset);
       has_z = true;
-    } else if (field.name == "ring" || field.name == "row" || field.name == "channel") {
+    } else if (field.name == "ring" || field.name == "row" ||
+               field.name == "channel") {
       func_row = data_getter<uint8_t>(field.datatype, field.offset);
       has_row = true;
     }
   }
 
   // Validate that all required fields were found
   if (!has_x || !has_y || !has_z) {
-    throw std::runtime_error(
-        "PointCloud2ToForm: Missing required point fields; expected fields 'x', 'y', and 'z'.");
+    throw std::runtime_error("PointCloud2ToForm: Missing required point fields; "
+                             "expected fields 'x', 'y', and 'z'.");
   }
   if (!has_row) {
-    throw std::runtime_error(
-        "PointCloud2ToForm: Missing required row indicator field; expected one of 'ring', 'row', or 'channel'.");
+    throw std::runtime_error("PointCloud2ToForm: Missing required row indicator "
+                             "field; expected one of 'ring', 'row', or 'channel'.");
   }
 
   // Parse all points