Fix map-center indexing and add regression test #7

	name: Jazzy (Docker)

	on:
	push:
	branches: [ "ros2", "jazzy" ]
	pull_request:
	branches: [ "main", "ros2", "jazzy" ]
	workflow_dispatch:

	jobs:
	build_test:
	# Requires a GPU-capable self-hosted runner with Docker + NVIDIA container runtime.
	runs-on: [ self-hosted, Linux, X64 ]
	steps:
	- uses: actions/checkout@v4

	- name: Build Docker image (Jazzy)
	run: \|
	set -euo pipefail
	docker build -f docker/Dockerfile.x64 -t elevation_mapping_cupy:jazzy .

	- name: Colcon build + test inside container
	run: \|
	set -euo pipefail

	WS=/tmp/ros2_ws_emcupy
	rm -rf "$WS"
	mkdir -p "$WS/src"
	cp -a "$GITHUB_WORKSPACE" "$WS/src/elevation_mapping_cupy"

	docker run --rm --gpus all --net=host \
	-v "$WS":/ws -w /ws elevation_mapping_cupy:jazzy bash -lc '
	set -e
	source /opt/ros/jazzy/setup.bash
	colcon build --symlink-install \
	--build-base build_jazzy --install-base install_jazzy \
	--packages-select elevation_map_msgs elevation_mapping_cupy \
	--packages-ignore-regex "^grid_map.*" \
	--event-handlers console_direct+
	source install_jazzy/setup.bash
	colcon test --packages-select elevation_mapping_cupy \
	--build-base build_jazzy --install-base install_jazzy \
	--packages-ignore-regex "^grid_map.*" \
	--event-handlers console_direct+
	colcon test-result --verbose --test-result-base build_jazzy
	'

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