add github action based ci (#29)

.github/workflows/basic_ci.yaml

@@ -0,0 +1,49 @@
+name: Basic CI
+on: [push, pull_request]
+
+jobs:
+  basic_ci:
+    name: Basic CI
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        ros_distribution:
+          - 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:
+
+          # Humble Hawksbill (May 2022 - May 2027)
+          - docker_image: ubuntu:jammy
+            ros_distribution: humble
+
+          # Iron Irwini (May 2023 - November 2024)
+          - docker_image: ubuntu:jammy
+            ros_distribution: iron
+
+          # Rolling Ridley (No End-Of-Life)
+          - docker_image: ubuntu:jammy
+            ros_distribution: rolling
+
+    container:
+      image: ${{ matrix.docker_image }}
+    steps:
+      - uses: ros-tooling/[email protected]
+      - name: checkout
+        uses: actions/checkout@v4
+        with:
+          path: ros_ws/src
+      - uses: ros-tooling/[email protected]
+        with:
+          package-name: rosidl_adapter_proto rosidl_typesupport_protobuf rosidl_typesupport_protobuf_cpp rosidl_typesupport_protobuf_c
+          target-ros2-distro: ${{ matrix.ros_distribution }}
+          vcs-repo-file-url: https://raw.githubusercontent.com/ros2/ros2/${{ matrix.ros_distribution }}/ros2.repos