CI: finalize Test Policy v1.0; cache & marker enforcement; keep mapping/integration non-gating

[alpharover]

Lock in Test Policy v1.0 and stabilize CI signal while keeping trunk green.

Summary

• Core gating: build full workspace excluding alpha_mapping; run only unit tests (pytest -m unit).
• Non‑gating:
  • Mapping Build: builds alpha_mapping on changes + nightly, uploads logs, continue-on-error: true.
  • Integration Tests: pytest -m integration on changes + nightly, continue-on-error: true.
• Promotion rule (policy): after 7 consecutive green mapping + integration runs (PRs/nightly) or 1 week green, re‑gate them.
• Sensors enforcement: keep relaxed policy — forbid only bad form (--cmake-args before --packages-select), allow multiline packages‑first.

What changed

• Added apt hardening and caching to Core, Mapping, and Integration jobs:
  • Configure apt retries + noninteractive.
  • Cache rosdep metadata via actions/cache@v4.
  • Install/configure/cache ccache.
  • Wire ccache into all colcon build invocations.
• Added “Enforce test markers” step in Core to require @pytest.mark.unit or @pytest.mark.integration on all tests.
• Kept unit‑only pytest step as the gating test execution; no colcon test.
• Preserved set +u/set -u around source to avoid nounset issues.
• Maintained concurrency and non‑gating behavior for mapping/integration.

Files

• .github/workflows/ci.yml
• .github/workflows/sensors.yml

Expected outcome

• Fast, stable Core CI with deterministic unit‑only gating.
• Continued non‑gating visibility for mapping/integration with artifacts.
• Fewer spurious CI failures due to apt/rosdep/network variability.

Follow‑up

• After a week of green mapping/integration (or 7 consecutive runs), open a PR to promote them back into gating per policy.

[chatgpt-codex-connector]

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[chatgpt-codex-connector]

[P1] Ensure ccache directory exists before configuring

Configure ccache writes max_size = 2G to ~/.ccache/ccache.conf immediately after the cache restore. On a cold runner or any cache miss, actions/cache does not create ~/.ccache, so this echo will fail with “No such file or directory” and the job aborts before compiling. Create the directory (e.g. mkdir -p ~/.ccache) before writing the config; the mapping and integration jobs use the same pattern and would fail for the same reason.

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