Touchup Dockerfile and create a workflow building it (#323)

.github/workflows/humble-docker-build.yaml

@@ -0,0 +1,22 @@
+name: Build Humble Dockerfile
+# description: builds the dockerfile contained within the repo
+
+on:
+  pull_request:
+    branches:
+      - humble
+  push:
+    branches:
+      - humble
+  schedule:
+    # Run every morning to detect broken dependencies
+    - cron: '40 1 * * *'
+
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v3
+    - name: Build the Docker image
+      run: docker build . --file Dockerfile/Dockerfile --tag ros2_control_demos_humble

.github/workflows/rolling-binary-build.yml

@@ -13,11 +13,6 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
-#TODO(christophfroehlich): remove once it is released
-# otherwise ros-gz won't build
-env:
-  GZ_VERSION: fortress
-
 jobs:
   binary:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml

.github/workflows/rolling-docker-build.yaml

@@ -0,0 +1,22 @@
+name: Build Rolling Dockerfile
+# description: builds the dockerfile contained within the repo
+
+on:
+  pull_request:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+  schedule:
+    # Run every morning to detect broken dependencies
+    - cron: '50 1 * * *'
+
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v3
+    - name: Build the Docker image
+      run: docker build . --file Dockerfile/Dockerfile --tag ros2_control_demos_rolling

Dockerfile/Dockerfile

@@ -5,13 +5,23 @@ FROM ros:${ROS_DISTRO}-ros-base
 ENV DEBIAN_FRONTEND noninteractive
 
 RUN apt-get update \
-    && apt-get upgrade -y
+    && apt-get upgrade -y \
+    && \
+    : "remove cache" && \
+    apt-get autoremove -y -qq && \
+    rm -rf /var/lib/apt/lists/*
 
 COPY . /home/ros2_ws/src/ros2_control_demos
 
 RUN cd /home/ros2_ws/src \
-    && rosdep update \
-    && rosdep install --from-paths ./ -i -y --rosdistro ${ROS_DISTRO} --skip-keys rviz2
+    && rosdep update --rosdistro ${ROS_DISTRO}  \
+    && apt-get update \
+    && rosdep install --from-paths ./ -i -y --rosdistro ${ROS_DISTRO} \
+    --skip-keys ros-${ROS_DISTRO}-joint-state-publisher-gui --skip-keys ros-${ROS_DISTRO}-rviz2\
+    && \
+    : "remove cache" && \
+    apt-get autoremove -y -qq && \
+    rm -rf /var/lib/apt/lists/*
 
 RUN cd /home/ros2_ws/ \
   && . /opt/ros/${ROS_DISTRO}/setup.sh \