update to ROS tooling CI action

.github/workflows/build-ros.yml

@@ -4,29 +4,56 @@ name: CI ROS
 on: [push, pull_request]
 
 jobs:
-  build:
-    name: ${{ matrix.name }}
-    runs-on: ${{ matrix.os }}
-
-    env:
-      CTEST_OUTPUT_ON_FAILURE: ON
-      CTEST_PARALLEL_LEVEL: 1
-      VERBOSE: 1  # to show all cmake scripts debug info
-
+  test_docker: # On Linux, iterates on all ROS 1 and ROS 2 distributions.
+    runs-on: ubuntu-latest
     strategy:
-      fail-fast: false
       matrix:
         # Github Actions requires a single row to be added to the build matrix.
         # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
-        name: [
-          ros-rolling-u22.04
-        ]
+        ros_distribution:
+          - noetic
+          - humble
+          - iron
+          - rolling
 
+        # Define the Docker image(s) associated with each ROS distribution.
+        # The include syntax allows additional variables to be defined, like
+        # docker_image in this case. See documentation:
+        # https://help.github.com/en/actions/reference/workflow-syntax-for-github-actions#example-including-configurations-in-a-matrix-build
+        #
+        # Platforms are defined in REP 3 and REP 2000:
+        # https://ros.org/reps/rep-0003.html
+        # https://ros.org/reps/rep-2000.html
         include:
-          - name: ros-rolling-u22.04
-            os: ros:rolling-ros-base
+          # Noetic Ninjemys (May 2020 - May 2025)
+          - docker_image: ubuntu:focal
+            ros_distribution: noetic
+            ros_version: 1
+
+          # Humble Hawksbill (May 2022 - May 2027)
+          - docker_image: ubuntu:jammy
+            ros_distribution: humble
+            ros_version: 2
+
+          # Iron Irwini (May 2023 - November 2024)
+          - docker_image: ubuntu:jammy
+            ros_distribution: iron
+            ros_version: 2
+
+          # Rolling Ridley (No End-Of-Life)
+          - docker_image: ubuntu:jammy
+            ros_distribution: rolling
+            ros_version: 2
+
+    container:
+      image: ${{ matrix.docker_image }}
 
     steps:
+      - name: setup ROS environment
+        uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: ${{ matrix.ros_distribution }}
+
       - name: Checkout
         uses: actions/checkout@master