From cfee9088f887490fe2210bac70ec65ee52e29d15 Mon Sep 17 00:00:00 2001
From: Andrew Lui <ak.lui@qut.edu.au>
Date: Fri, 21 Aug 2026 20:47:46 +1000
Subject: [PATCH 01/17] revision

---
 .github/workflows/colcon-test-docker.yml    | 10 ++++++----
 .github/workflows/docker-build-and-push.yml | 15 +++++++++------
 README.md                                   |  5 +++--
 docker/compose.yaml                         |  2 +-
 4 files changed, 19 insertions(+), 13 deletions(-)

diff --git a/.github/workflows/colcon-test-docker.yml b/.github/workflows/colcon-test-docker.yml
index e58b710..a32f3fd 100644
--- a/.github/workflows/colcon-test-docker.yml
+++ b/.github/workflows/colcon-test-docker.yml
@@ -8,11 +8,13 @@ on:
   workflow_dispatch:
 
 jobs:
-  build-and-push:
+  spin-up-and-test:
     runs-on: ubuntu-latest
     permissions:
       contents: read
       packages: write 
+      checks: write
+      id-token: write
 
     environment:
       name: docker-image
@@ -39,10 +41,10 @@ jobs:
           "
       # publish test report
       - name: Publish Test Report Dashboard
-        uses: mikepenz/action-junit-report@v4
-        if: always() # ensures the UI loads even if tests fail
+        uses: mikepenz/action-junit-report@v6
+        if: success() || failure() # always run even if the previous step fails
         with:
-          report_paths: 'build/**/test_results/**/*.xml' # path where colcon stores pytest XML reports
+          report_paths: '**/build/test-results/test/TEST-*.xml'
 
       # clean up resources to prevent leaks
       - name: Tear Down Containers
diff --git a/.github/workflows/docker-build-and-push.yml b/.github/workflows/docker-build-and-push.yml
index ad3d71c..01baefd 100644
--- a/.github/workflows/docker-build-and-push.yml
+++ b/.github/workflows/docker-build-and-push.yml
@@ -3,10 +3,13 @@ name: Docker Compose Build and Push
 on:
   workflow_dispatch:
     inputs:
-      environment:
-        description: 'Target Environment'
+      docker_image:
+        description: 'Docker Image'
         required: true
-        default: 'docker-image'
+        default: 'ros2'
+        options:
+          - ros2
+          - moveit2
 
 jobs:
   build-and-push:
@@ -34,11 +37,11 @@ jobs:
 
       # compile the Docker images
       - name: Build Docker Compose Images
-        run: docker compose build moveit2 ros2 
+        run: docker compose build ${{ inputs.docker_image }}
 
       # spin up the containers to ensure they start up successfully
       - name: Test Start Containers
-        run: docker compose up moveit2 ros2 -d --wait
+        run: docker compose up ${{ inputs.docker_image }} -d --wait
 
       # check container statuses and ensure none have exited with errors
       - name: Verify Container Statuses
@@ -67,7 +70,7 @@ jobs:
       # push using the image name defined in docker-compose.yml, only runs when code is merged to main
       - name: Push image with Docker Compose to GHCR
         if: ${{ github.ref == 'refs/heads/main' && github.event_name != 'pull_request' }}
-        run: docker compose push moveit2 ros2
+        run: docker compose push ${{ inputs.docker_image }}
 
   cleanup-old-images:
     needs: build-and-push
diff --git a/README.md b/README.md
index 6d336b2..24d1dca 100644
--- a/README.md
+++ b/README.md
@@ -8,8 +8,9 @@
 ![Visualization Topic](https://badgen.net/badge/topic/Visualization/orange?icon=github)
 [![License: BSD NON-AI](https://badgen.net/badge/license/BSD-3%20NON-AI?icon=github)](https://github.com/non-ai-licenses/non-ai-licenses/blob/main/NON-AI-BSD3)
 
-[![Docker Compose Build and Deploy](https://github.com/REF-RAS/rviz_marker_tools/actions/workflows/docker-build.yml/badge.svg)](https://github.com/REF-RAS/rviz_marker_tools/actions/workflows/docker-build.yml)
-[![Build Sphinx and Deploy](https://github.com/REF-RAS/rviz_marker_tools/actions/workflows/sphinx.yml/badge.svg)](https://github.com/REF-RAS/rviz_marker_tools/actions/workflows/sphinx.yml)
+[![Docker Compose Build and Push](https://github.com/REF-RAS/rviz_marker_publisher/actions/workflows/docker-build-and-push.yml/badge.svg)](https://github.com/REF-RAS/rviz_marker_publisher/actions/workflows/docker-build-and-push.yml)
+[![Colcon Test Package in Container](https://github.com/REF-RAS/rviz_marker_publisher/actions/workflows/colcon-test-docker.yml/badge.svg)](https://github.com/REF-RAS/rviz_marker_publisher/actions/workflows/colcon-test-docker.yml)
+[![Build Sphinx and Deploy](https://github.com/REF-RAS/rviz_marker_publisher/actions/workflows/sphinx.yml/badge.svg)](https://github.com/REF-RAS/rviz_marker_publisher/actions/workflows/sphinx.yml)
 
 ## Introduction
 
diff --git a/docker/compose.yaml b/docker/compose.yaml
index 85a7473..4711f9f 100644
--- a/docker/compose.yaml
+++ b/docker/compose.yaml
@@ -39,7 +39,7 @@ services:
     ros2-test:
         extends: 
             service: ros2
-        working_dir: ~/ros2_ws
+        working_dir: /workspace/ros2_ws
         environment:
             - GITHUB_ACTIONS=true
         volumes:

From c6b18335b8e595d086572eb06de6d1b652a753a8 Mon Sep 17 00:00:00 2001
From: Andrew Lui <ak.lui@qut.edu.au>
Date: Fri, 21 Aug 2026 20:55:20 +1000
Subject: [PATCH 02/17] working

---
 .github/workflows/colcon-test-docker.yml    | 11 +++++++++++
 .github/workflows/docker-build-and-push.yml |  1 -
 2 files changed, 11 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/colcon-test-docker.yml b/.github/workflows/colcon-test-docker.yml
index a32f3fd..db18ff9 100644
--- a/.github/workflows/colcon-test-docker.yml
+++ b/.github/workflows/colcon-test-docker.yml
@@ -29,6 +29,17 @@ jobs:
       - name: Checkout repository
         uses: actions/checkout@v5
 
+      - name: Log in to GHCR
+        uses: docker/login-action@v4
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Pull Docker Image
+        run: |
+          docker pull ghcr.io/ref-ras/ros2
+
       # spin up docker compose service ros2 and execute colcon test
       - name: Execute Colcon Tests
         run: |
diff --git a/.github/workflows/docker-build-and-push.yml b/.github/workflows/docker-build-and-push.yml
index 01baefd..71ff8c5 100644
--- a/.github/workflows/docker-build-and-push.yml
+++ b/.github/workflows/docker-build-and-push.yml
@@ -6,7 +6,6 @@ on:
       docker_image:
         description: 'Docker Image'
         required: true
-        default: 'ros2'
         options:
           - ros2
           - moveit2

From 27e2472f521b80bf6f43d64a24f69765662fc7d2 Mon Sep 17 00:00:00 2001
From: Andrew Lui <ak.lui@qut.edu.au>
Date: Fri, 21 Aug 2026 20:57:32 +1000
Subject: [PATCH 03/17] working

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

diff --git a/.github/workflows/colcon-test-docker.yml b/.github/workflows/colcon-test-docker.yml
index db18ff9..ec095bc 100644
--- a/.github/workflows/colcon-test-docker.yml
+++ b/.github/workflows/colcon-test-docker.yml
@@ -38,7 +38,7 @@ jobs:
 
       - name: Pull Docker Image
         run: |
-          docker pull ghcr.io/ref-ras/ros2
+          docker pull ghcr.io/ref-ras/ros2:latest
 
       # spin up docker compose service ros2 and execute colcon test
       - name: Execute Colcon Tests

From 272fc3c370f39a430e21c9ed6f565813c7a76cbd Mon Sep 17 00:00:00 2001
From: Andrew Lui <ak.lui@qut.edu.au>
Date: Fri, 21 Aug 2026 21:03:52 +1000
Subject: [PATCH 04/17] working

---
 docker/compose.yaml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/docker/compose.yaml b/docker/compose.yaml
index 4711f9f..1131f8f 100644
--- a/docker/compose.yaml
+++ b/docker/compose.yaml
@@ -39,6 +39,7 @@ services:
     ros2-test:
         extends: 
             service: ros2
+        container_name: ros2-test
         working_dir: /workspace/ros2_ws
         environment:
             - GITHUB_ACTIONS=true

From 189593475bda7f24529f525a20f5f5edb1360de6 Mon Sep 17 00:00:00 2001
From: Andrew Lui <ak.lui@qut.edu.au>
Date: Fri, 21 Aug 2026 21:16:12 +1000
Subject: [PATCH 05/17] working

---
 .github/workflows/clean-old-images.yml      | 25 +++++++++++++++++++++
 .github/workflows/docker-build-and-push.yml | 13 +----------
 2 files changed, 26 insertions(+), 12 deletions(-)
 create mode 100644 .github/workflows/clean-old-images.yml

diff --git a/.github/workflows/clean-old-images.yml b/.github/workflows/clean-old-images.yml
new file mode 100644
index 0000000..6048e5b
--- /dev/null
+++ b/.github/workflows/clean-old-images.yml
@@ -0,0 +1,25 @@
+name: Clean Old Docker Image
+
+on:
+  workflow_dispatch:
+
+jobs:
+  cleanup-old-images:
+    needs: build-and-push
+    runs-on: ubuntu-latest
+    permissions:
+      packages: write
+    steps:
+
+      - name: Log in to GHCR
+        uses: docker/login-action@v4
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Purge untagged images
+        uses: dataaxiom/ghcr-cleanup-action@v1
+        with:
+          keep-n-untagged: 0 
+          dry-run: false
\ No newline at end of file
diff --git a/.github/workflows/docker-build-and-push.yml b/.github/workflows/docker-build-and-push.yml
index 71ff8c5..96add47 100644
--- a/.github/workflows/docker-build-and-push.yml
+++ b/.github/workflows/docker-build-and-push.yml
@@ -68,17 +68,6 @@ jobs:
 
       # push using the image name defined in docker-compose.yml, only runs when code is merged to main
       - name: Push image with Docker Compose to GHCR
-        if: ${{ github.ref == 'refs/heads/main' && github.event_name != 'pull_request' }}
+        # if: ${{ github.ref == 'refs/heads/main' && github.event_name != 'pull_request' }}
         run: docker compose push ${{ inputs.docker_image }}
 
-  cleanup-old-images:
-    needs: build-and-push
-    runs-on: ubuntu-latest
-    permissions:
-      packages: write
-    steps:
-      - name: Purge untagged images
-        uses: dataaxiom/ghcr-cleanup-action@v1
-        with:
-          keep-n-untagged: 0 
-          dry-run: false
\ No newline at end of file

From 7ee9581a9585e83423876dab2ace36712619acdc Mon Sep 17 00:00:00 2001
From: Andrew Lui <ak.lui@qut.edu.au>
Date: Fri, 21 Aug 2026 21:37:56 +1000
Subject: [PATCH 06/17] working

---
 .github/workflows/colcon-test-docker.yml    | 1 -
 .github/workflows/docker-build-and-push.yml | 2 ++
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/colcon-test-docker.yml b/.github/workflows/colcon-test-docker.yml
index ec095bc..d124f95 100644
--- a/.github/workflows/colcon-test-docker.yml
+++ b/.github/workflows/colcon-test-docker.yml
@@ -45,7 +45,6 @@ jobs:
         run: |
           docker compose run --rm ros2-test bash -c "
             source /opt/ros/\$ROS_DISTRO/setup.bash &&
-            sudo uv pip install pytest-github-actions-annotate-failures &&
             colcon build &&
             colcon test --event-handlers console_cohesion+ &&
             colcon test-result --all
diff --git a/.github/workflows/docker-build-and-push.yml b/.github/workflows/docker-build-and-push.yml
index 96add47..a18fe5f 100644
--- a/.github/workflows/docker-build-and-push.yml
+++ b/.github/workflows/docker-build-and-push.yml
@@ -4,8 +4,10 @@ on:
   workflow_dispatch:
     inputs:
       docker_image:
+        type: choice
         description: 'Docker Image'
         required: true
+        default: 'ros2'
         options:
           - ros2
           - moveit2

From 84ae5127f3d820c5332cd749513cb59b341a5c6c Mon Sep 17 00:00:00 2001
From: Andrew Lui <ak.lui@qut.edu.au>
Date: Fri, 21 Aug 2026 21:41:38 +1000
Subject: [PATCH 07/17] working

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

diff --git a/.github/workflows/colcon-test-docker.yml b/.github/workflows/colcon-test-docker.yml
index d124f95..fc7659b 100644
--- a/.github/workflows/colcon-test-docker.yml
+++ b/.github/workflows/colcon-test-docker.yml
@@ -45,7 +45,9 @@ jobs:
         run: |
           docker compose run --rm ros2-test bash -c "
             source /opt/ros/\$ROS_DISTRO/setup.bash &&
+            cd /workspace/ros2_ws &&
             colcon build &&
+            source install/setup.bash &&
             colcon test --event-handlers console_cohesion+ &&
             colcon test-result --all
           "

From c0e619385704a98418a49bae071e994061b677cc Mon Sep 17 00:00:00 2001
From: Andrew Lui <ak.lui@qut.edu.au>
Date: Fri, 21 Aug 2026 21:49:41 +1000
Subject: [PATCH 08/17] working

---
 .github/workflows/colcon-test-docker.yml | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/colcon-test-docker.yml b/.github/workflows/colcon-test-docker.yml
index fc7659b..8ae1515 100644
--- a/.github/workflows/colcon-test-docker.yml
+++ b/.github/workflows/colcon-test-docker.yml
@@ -22,7 +22,7 @@ jobs:
 
     defaults:
       run:
-        working-directory: ./docker
+        working-directory: .
 
     steps:
       # fetch the repository code
@@ -43,6 +43,7 @@ jobs:
       # spin up docker compose service ros2 and execute colcon test
       - name: Execute Colcon Tests
         run: |
+          cd docker &&
           docker compose run --rm ros2-test bash -c "
             source /opt/ros/\$ROS_DISTRO/setup.bash &&
             cd /workspace/ros2_ws &&
@@ -61,4 +62,6 @@ jobs:
       # clean up resources to prevent leaks
       - name: Tear Down Containers
         if: always()
-        run: docker compose down --volumes
+        run: |
+          cd docker &&
+          docker compose down --volumes

From 24e1749edfb84729e0a10b459b0db53ca0075d46 Mon Sep 17 00:00:00 2001
From: Andrew Lui <ak.lui@qut.edu.au>
Date: Fri, 21 Aug 2026 21:58:13 +1000
Subject: [PATCH 09/17] working

---
 .github/workflows/colcon-test-docker.yml | 3 +--
 docker/compose.yaml                      | 3 ++-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/colcon-test-docker.yml b/.github/workflows/colcon-test-docker.yml
index 8ae1515..70571fc 100644
--- a/.github/workflows/colcon-test-docker.yml
+++ b/.github/workflows/colcon-test-docker.yml
@@ -22,7 +22,7 @@ jobs:
 
     defaults:
       run:
-        working-directory: .
+        working-directory: ./docker
 
     steps:
       # fetch the repository code
@@ -43,7 +43,6 @@ jobs:
       # spin up docker compose service ros2 and execute colcon test
       - name: Execute Colcon Tests
         run: |
-          cd docker &&
           docker compose run --rm ros2-test bash -c "
             source /opt/ros/\$ROS_DISTRO/setup.bash &&
             cd /workspace/ros2_ws &&
diff --git a/docker/compose.yaml b/docker/compose.yaml
index 1131f8f..7c59f75 100644
--- a/docker/compose.yaml
+++ b/docker/compose.yaml
@@ -44,7 +44,8 @@ services:
         environment:
             - GITHUB_ACTIONS=true
         volumes:
-            - .:/workspace/ros2_ws/src/rviz_marker_publisher:rw
+            # the working directory is docker, so .. going back to the repository root
+            - ${GITHUB_WORKSPACE}:/workspace/ros2_ws/src/rviz_marker_publisher:rw 
 
     # service: moveit2 image is based on FROM moveit/moveit2:jazzy-release
     moveit2:

From ecba2cb90487f63170e7f48505ce7179a913a9dd Mon Sep 17 00:00:00 2001
From: Andrew Lui <ak.lui@qut.edu.au>
Date: Fri, 21 Aug 2026 22:12:25 +1000
Subject: [PATCH 10/17] working

---
 .github/workflows/colcon-test-docker.yml | 4 ++--
 docker/compose.yaml                      | 1 +
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/colcon-test-docker.yml b/.github/workflows/colcon-test-docker.yml
index 70571fc..5ba0bef 100644
--- a/.github/workflows/colcon-test-docker.yml
+++ b/.github/workflows/colcon-test-docker.yml
@@ -56,11 +56,11 @@ jobs:
         uses: mikepenz/action-junit-report@v6
         if: success() || failure() # always run even if the previous step fails
         with:
-          report_paths: '**/build/test-results/test/TEST-*.xml'
+          # report_paths: '**/build/test-results/test/TEST-*.xml'
+          report_paths: '/tmp/log/test_*/**/stdout_stderr.xml'
 
       # clean up resources to prevent leaks
       - name: Tear Down Containers
         if: always()
         run: |
-          cd docker &&
           docker compose down --volumes
diff --git a/docker/compose.yaml b/docker/compose.yaml
index 7c59f75..d3c82cd 100644
--- a/docker/compose.yaml
+++ b/docker/compose.yaml
@@ -46,6 +46,7 @@ services:
         volumes:
             # the working directory is docker, so .. going back to the repository root
             - ${GITHUB_WORKSPACE}:/workspace/ros2_ws/src/rviz_marker_publisher:rw 
+            - /tmp/log:/workspace/ros2_ws/log:rw
 
     # service: moveit2 image is based on FROM moveit/moveit2:jazzy-release
     moveit2:

From a8b51994b074d17d6018fd3451ef1549e31f5bc0 Mon Sep 17 00:00:00 2001
From: Andrew Lui <ak.lui@qut.edu.au>
Date: Fri, 21 Aug 2026 22:25:55 +1000
Subject: [PATCH 11/17] working

---
 .github/workflows/remove-deployments.yml | 19 ++++++++++---------
 1 file changed, 10 insertions(+), 9 deletions(-)

diff --git a/.github/workflows/remove-deployments.yml b/.github/workflows/remove-deployments.yml
index d8e9019..2169095 100644
--- a/.github/workflows/remove-deployments.yml
+++ b/.github/workflows/remove-deployments.yml
@@ -21,10 +21,12 @@ jobs:
       - name: Inactivaate and delete deployments
         env:
           GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          OWNER: ${{ github.repository_owner }}
+          REPO: ${{ github.event.repository.name }}
         run: |
           # 1. Fetch all deployment IDs for the current repository
           echo "Fetching deployments..."
-          DEPLOYMENTS=$(gh api repos/${{ github.repository }}/deployments --paginate -q '.[].id')
+          DEPLOYMENTS=$(gh api repos/$OWNER/$REPO/deployments --paginate -q '.[].id')
 
           if [ -z "$DEPLOYMENTS" ]; then
             echo "No deployments found."
@@ -35,18 +37,17 @@ jobs:
           for DEPLOYMENT_ID in $DEPLOYMENTS; do
             echo "Processing Deployment ID: $DEPLOYMENT_ID"
             
-            # Formulate the API URL for this specific deployment
-            API_URL="repos/${{ github.repository }}/deployments/$DEPLOYMENT_ID"
-            
             # Step A: Inactivate the deployment by setting its status to 'inactive'
-            # (GitHub requires a deployment to be inactive or have no active statuses before deletion)
-            gh api repos/$API_URL/deployments/$id/statuses \
-               -X POST -H "Accept: application/vnd.github.ant-man-preview+json" -f state='inactive' \
-               --silent || true; 
+            # Note: The gh api command automatically fills in the domain, just start with /repos
+            gh api "/repos/$OWNER/$REPO/deployments/$DEPLOYMENT_ID/statuses" \
+              -X POST \
+              -H "Accept: application/vnd.github.ant-man-preview+json" \
+              -F state="inactive" \
+              --silent || true
             
             # Step B: Delete the deployment record
             echo "Deleting Deployment ID: $DEPLOYMENT_ID..."
-            gh api repos/$API_URL/deployments/$id -X DELETE;
+            gh api "/repos/$OWNER/$REPO/deployments/$DEPLOYMENT_ID" -X DELETE
           done
           
           echo "Cleanup complete!"

From 7b2b78629218161a07d0495a4f53b9391568cea9 Mon Sep 17 00:00:00 2001
From: Andrew Lui <ak.lui@qut.edu.au>
Date: Fri, 21 Aug 2026 22:32:21 +1000
Subject: [PATCH 12/17] working

---
 .github/workflows/clean-old-images.yml   | 5 +++--
 .github/workflows/colcon-test-docker.yml | 5 +++--
 docker/compose.yaml                      | 1 -
 3 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/clean-old-images.yml b/.github/workflows/clean-old-images.yml
index 6048e5b..83c4991 100644
--- a/.github/workflows/clean-old-images.yml
+++ b/.github/workflows/clean-old-images.yml
@@ -5,12 +5,13 @@ on:
 
 jobs:
   cleanup-old-images:
-    needs: build-and-push
     runs-on: ubuntu-latest
     permissions:
       packages: write
+      deployments: write
+      statuses: write 
+      
     steps:
-
       - name: Log in to GHCR
         uses: docker/login-action@v4
         with:
diff --git a/.github/workflows/colcon-test-docker.yml b/.github/workflows/colcon-test-docker.yml
index 5ba0bef..f539730 100644
--- a/.github/workflows/colcon-test-docker.yml
+++ b/.github/workflows/colcon-test-docker.yml
@@ -49,7 +49,8 @@ jobs:
             colcon build &&
             source install/setup.bash &&
             colcon test --event-handlers console_cohesion+ &&
-            colcon test-result --all
+            colcon test-result --all &&
+            mv /workspace/ros2_ws/log /workspace/ros2_ws/src/rviz_marker_publisher/log
           "
       # publish test report
       - name: Publish Test Report Dashboard
@@ -57,7 +58,7 @@ jobs:
         if: success() || failure() # always run even if the previous step fails
         with:
           # report_paths: '**/build/test-results/test/TEST-*.xml'
-          report_paths: '/tmp/log/test_*/**/stdout_stderr.xml'
+          report_paths: '**/log/test_*/**/stdout_stderr.xml'
 
       # clean up resources to prevent leaks
       - name: Tear Down Containers
diff --git a/docker/compose.yaml b/docker/compose.yaml
index d3c82cd..7c59f75 100644
--- a/docker/compose.yaml
+++ b/docker/compose.yaml
@@ -46,7 +46,6 @@ services:
         volumes:
             # the working directory is docker, so .. going back to the repository root
             - ${GITHUB_WORKSPACE}:/workspace/ros2_ws/src/rviz_marker_publisher:rw 
-            - /tmp/log:/workspace/ros2_ws/log:rw
 
     # service: moveit2 image is based on FROM moveit/moveit2:jazzy-release
     moveit2:

From 07dd16bb0faae8a54fc93c0fc1327af42b4f7a98 Mon Sep 17 00:00:00 2001
From: Andrew Lui <ak.lui@qut.edu.au>
Date: Fri, 21 Aug 2026 22:39:46 +1000
Subject: [PATCH 13/17] working

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

diff --git a/.github/workflows/colcon-test-docker.yml b/.github/workflows/colcon-test-docker.yml
index f539730..b7d2d2b 100644
--- a/.github/workflows/colcon-test-docker.yml
+++ b/.github/workflows/colcon-test-docker.yml
@@ -36,6 +36,9 @@ jobs:
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
+      - name: Create Folder for Binding Results
+        run: mkdir -p $GITHUB_WORKSPACE/log
+
       - name: Pull Docker Image
         run: |
           docker pull ghcr.io/ref-ras/ros2:latest

From d353d9daccf2fe12eff87ca4dfaa17064461f927 Mon Sep 17 00:00:00 2001
From: Andrew Lui <ak.lui@qut.edu.au>
Date: Fri, 21 Aug 2026 22:43:41 +1000
Subject: [PATCH 14/17] working

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

diff --git a/.github/workflows/colcon-test-docker.yml b/.github/workflows/colcon-test-docker.yml
index b7d2d2b..67d7875 100644
--- a/.github/workflows/colcon-test-docker.yml
+++ b/.github/workflows/colcon-test-docker.yml
@@ -53,7 +53,7 @@ jobs:
             source install/setup.bash &&
             colcon test --event-handlers console_cohesion+ &&
             colcon test-result --all &&
-            mv /workspace/ros2_ws/log /workspace/ros2_ws/src/rviz_marker_publisher/log
+            mv /workspace/ros2_ws/log /workspace/ros2_ws/src/rviz_marker_publisher
           "
       # publish test report
       - name: Publish Test Report Dashboard

From c4614a8a8477417db5b65f236668436ae7507fae Mon Sep 17 00:00:00 2001
From: Andrew Lui <ak.lui@qut.edu.au>
Date: Fri, 21 Aug 2026 23:06:18 +1000
Subject: [PATCH 15/17] working

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

diff --git a/.github/workflows/colcon-test-docker.yml b/.github/workflows/colcon-test-docker.yml
index 67d7875..1a4c853 100644
--- a/.github/workflows/colcon-test-docker.yml
+++ b/.github/workflows/colcon-test-docker.yml
@@ -53,7 +53,7 @@ jobs:
             source install/setup.bash &&
             colcon test --event-handlers console_cohesion+ &&
             colcon test-result --all &&
-            mv /workspace/ros2_ws/log /workspace/ros2_ws/src/rviz_marker_publisher
+            cp -r /workspace/ros2_ws/log /workspace/ros2_ws/src/rviz_marker_publisher
           "
       # publish test report
       - name: Publish Test Report Dashboard

From 9e6961acab0eb33fba9be5ab346e0eb3f3c03d48 Mon Sep 17 00:00:00 2001
From: Andrew Lui <ak.lui@qut.edu.au>
Date: Fri, 21 Aug 2026 23:31:22 +1000
Subject: [PATCH 16/17] working

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

diff --git a/.github/workflows/colcon-test-docker.yml b/.github/workflows/colcon-test-docker.yml
index 1a4c853..73b3ff9 100644
--- a/.github/workflows/colcon-test-docker.yml
+++ b/.github/workflows/colcon-test-docker.yml
@@ -37,7 +37,7 @@ jobs:
           password: ${{ secrets.GITHUB_TOKEN }}
 
       - name: Create Folder for Binding Results
-        run: mkdir -p $GITHUB_WORKSPACE/log
+        run: mkdir -m 777 -p $GITHUB_WORKSPACE/log
 
       - name: Pull Docker Image
         run: |
@@ -53,7 +53,7 @@ jobs:
             source install/setup.bash &&
             colcon test --event-handlers console_cohesion+ &&
             colcon test-result --all &&
-            cp -r /workspace/ros2_ws/log /workspace/ros2_ws/src/rviz_marker_publisher
+            sudo cp -r /workspace/ros2_ws/log /workspace/ros2_ws/src/rviz_marker_publisher
           "
       # publish test report
       - name: Publish Test Report Dashboard

From dff2b87e21b7036457b1a4c02f9fb0dcb5fb2e01 Mon Sep 17 00:00:00 2001
From: Andrew Lui <ak.lui@qut.edu.au>
Date: Fri, 21 Aug 2026 23:57:04 +1000
Subject: [PATCH 17/17] working

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

diff --git a/.github/workflows/colcon-test-docker.yml b/.github/workflows/colcon-test-docker.yml
index 73b3ff9..370926a 100644
--- a/.github/workflows/colcon-test-docker.yml
+++ b/.github/workflows/colcon-test-docker.yml
@@ -53,7 +53,7 @@ jobs:
             source install/setup.bash &&
             colcon test --event-handlers console_cohesion+ &&
             colcon test-result --all &&
-            sudo cp -r /workspace/ros2_ws/log /workspace/ros2_ws/src/rviz_marker_publisher
+            sudo cp /workspace/ros2_ws/build/rviz_marker_publisher/pytest.xml /workspace/ros2_ws/src/rviz_marker_publisher
           "
       # publish test report
       - name: Publish Test Report Dashboard
@@ -61,7 +61,7 @@ jobs:
         if: success() || failure() # always run even if the previous step fails
         with:
           # report_paths: '**/build/test-results/test/TEST-*.xml'
-          report_paths: '**/log/test_*/**/stdout_stderr.xml'
+          report_paths: '**/pytest.xml'
 
       # clean up resources to prevent leaks
       - name: Tear Down Containers