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In the addition to the @gvdhoorn comment (I think this ROSCon 2019 talk "Macau: Using ROS and Gazebo to Safely Validate and Verify Autonomous Systems" fits right here), below is a list with some links with useful resources about ROS CI:

• "ROS-Industrial Quality-Assured Robot Software Components" - especially "Continuous Integration" in the 2.3.1 Core Development and next two parts
• https://mitras.ece.illinois.edu/research/2021/GRAIC_CI_ICRAWP.pdf - publication "Continuous Integration and Testing for Autonomous Racing Software: An Experience Report from GRAIC"
• https://rosin-project.github.io/quality-hub/ - a really nice summary about overall quality of ROS software (CI etc. included)
• https://afsafzal.github.io/materials/thesis.pdf - "Automated Testing of Robotic and Cyberphysical Systems", Afsoon Afzal thesis - interesting read about robotic systems and their automated testing (more abstract than the previous ones)