feat: add GitHub Actions workflow for ROS CI and Copilot instructions

Author: marc-hanheide

.github/copilot-instructions.md

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+# Livox ROS Driver 2 — Copilot Instructions
+
+## Project Overview
+
+This is a ROS2 device driver for Livox 3D LiDAR sensors (MID360, HAP). It targets **ROS2 Humble or later**. The codebase also retains partial ROS1 compatibility gated behind `#ifdef BUILDING_ROS1` preprocessor guards. But only every work on the ROS2 code.
+
+## Build and Test
+
+```bash
+# From the workspace root (/ros2_ws)
+colcon build
+
+```
+
+## Architecture
+
+- **`src/driver_node.*`** — ROS2 node entry point, lifecycle management
+- **`src/lddc.*`** — Lidar Data Distribution Center; routes point cloud and IMU data to ROS publishers
+- **`src/lds_lidar.*` / `src/lds.*`** — Lidar Device Scheduler; manages sensor connections and data pipelines
+- **`src/comm/`** — Low-level communication utilities: queues, semaphores, caching, and the central `PubHandler`
+- **`src/call_back/`** — SDK callback handlers for incoming lidar/IMU frames
+- **`src/parse_cfg_file/`** — JSON config file parsing (uses RapidJSON from `3rdparty/`)
+- **`src/include/`** — Shared headers; `ros_headers.h` abstracts ROS1/ROS2 includes
+- **`config/`** — Per-sensor JSON configuration files
+- **`launch/`** — ROS2 Python launch files
+
+## Code Conventions
+
+- **Language**: C++14, namespace `livox_ros`
+- **Naming**: `PascalCase` for classes, `snake_case` for functions and member variables
+- **Header guards**: `#ifndef LIVOX_<MODULE>_H` / `#define LIVOX_<MODULE>_H`
+- **ROS abstraction**: Use the wrappers in `src/include/ros_headers.h` rather than including ROS headers directly; guard any ROS1-specific code with `#ifdef BUILDING_ROS1`
+- **JSON parsing**: Use the bundled RapidJSON library in `3rdparty/rapidjson/`
+- **License header**: All new source files must include the MIT license block present in existing files
+
+## Dependencies
+
+Key runtime deps: `rclcpp`, `rclcpp_components`, `sensor_msgs`, `pcl_conversions`, `livox_lidar_sdk`.  
+Do **not** add new third-party libraries without updating both `CMakeLists.txt` and `package.xml`.

.github/workflows/ros-ci.yml

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+name: ros CI
+
+on:
+  push:
+    # you may want to configure the branches that this should be run on here.
+    branches: [ "master" ]
+  pull_request:
+    branches: [ "master" ]
+
+jobs:
+  test_docker: # On Linux, iterates on all ROS 1 and ROS 2 distributions.
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        ros_distribution:
+          # - noetic
+          - humble
+          # - iron
+
+        # Define the Docker image(s) associated with each ROS distribution.
+        # The include syntax allows additional variables to be defined, like
+        # docker_image in this case. See documentation:
+        # https://help.github.com/en/actions/reference/workflow-syntax-for-github-actions#example-including-configurations-in-a-matrix-build
+        #
+        # Platforms are defined in REP 3 and REP 2000:
+        # https://ros.org/reps/rep-0003.html
+        # https://ros.org/reps/rep-2000.html
+        include:
+          # Noetic Ninjemys (May 2020 - May 2025)
+          # - docker_image: ubuntu:focal
+          #   ros_distribution: noetic
+          #   ros_version: 1
+
+          # Humble Hawksbill (May 2022 - May 2027)
+          - docker_image: ubuntu:jammy
+            ros_distribution: humble
+            ros_version: 2
+
+          # Iron Irwini (May 2023 - November 2024)
+          # - docker_image: ubuntu:jammy
+          #   ros_distribution: iron
+          #   ros_version: 2
+
+          # # Rolling Ridley (No End-Of-Life)
+          # - docker_image: ubuntu:jammy
+          #   ros_distribution: rolling
+          #   ros_version: 2
+
+    container:
+      image: ${{ matrix.docker_image }}
+    steps:
+      - uses: actions/checkout@v3
+        path: src/livox_ros_driver2
+      - name: setup ROS environment
+        uses: ros-tooling/setup-ros@v0.7
+      - name: build and test ROS 2
+        if: ${{ matrix.ros_version == 2 }}
+        uses: ros-tooling/action-ros-ci@v0.3
+        with:
+          import-token: ${{ github.token }}
+          target-ros2-distro: ${{ matrix.ros_distribution }}
+          skip-tests: true