add ros2 (#7)

Add ROS2 ci workflow

.github/workflows/build_test_ros.yml

@@ -17,12 +17,12 @@ jobs:
         config:
           - name: "melodic"
             container:
-              image: "ros:melodic"
+              image: "osrf/ros:melodic-desktop-full"
               env:
                 ROS_DISTRO: melodic
           - name: "noetic"
             container:
-              image: "ros:noetic"
+              image: "osrf/ros:noetic-desktop-full"
               env:
                 ROS_DISTRO: noetic
 
@@ -41,7 +41,7 @@ jobs:
           sudo apt-get update
           sudo apt-get install -y libeigen3-dev libyaml-cpp-dev libgtest-dev python3-osrf-pycommon python3-catkin-tools
       - name: Install Gtest
-        if: matrix.config.container.image == 'ros:melodic'
+        if: matrix.config.container.image == 'osrf/ros:melodic-desktop-full'
         run: |
           cd /usr/src/gtest
           sudo cmake .

.github/workflows/build_test_ros2.yml

@@ -0,0 +1,48 @@
+name: Build and Test with ROS2
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+
+jobs:
+  build:
+    name: ${{ matrix.config.name }}
+    runs-on: ubuntu-latest
+
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - name: "humble"
+            container:
+              image: "osrf/ros:humble-desktop-full"
+              env:
+                ROS_DISTRO: humble
+          - name: "foxy"
+            container:
+              image: "osrf/ros:foxy-desktop"
+              env:
+                ROS_DISTRO: foxy
+
+    container: ${{ matrix.config.container }}
+
+    defaults:
+      run:
+        shell: bash
+
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          path: src/fixposition_gnss_tf
+      - name: Set up Deps
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y libeigen3-dev libyaml-cpp-dev libgtest-dev python3-osrf-pycommon
+      - name: Build and Test
+        run: |
+          source /opt/ros/$ROS_DISTRO/setup.bash
+          colcon build --packages-up-to fixposition_gnss_tf --cmake-args -DBUILD_TESTING=ON
+          colcon test --packages-up-to fixposition_gnss_tf
+          colcon test-result --test-result-base build/fixposition_gnss_tf/

README.md

@@ -2,6 +2,7 @@
 
 -   [Ubuntu 20.04 / 22.04 ![](./../../actions/workflows/build_test_cmake.yml/badge.svg)](./../../actions/workflows/build_test_cmake.yml)
 -   [ROS1 melodic / noetic ![](./../../actions/workflows/build_test_ros.yml/badge.svg)](./../../actions/workflows/build_test_ros.yml)
+-   [ROS2 foxy / humble ![](./../../actions/workflows/build_test_ros2.yml/badge.svg)](./../../actions/workflows/build_test_ros2.yml)
 
 `fixposition_gnss_tf`