feat: support multiple ROS 2 distributions

.github/workflows/colcon.yml

@@ -1,20 +1,30 @@
-name: colcon
+name: CI
 
-on: [push, pull_request]
+on:
+  push:
+  pull_request:
+  workflow_dispatch:
+
+permissions: read-all
 
 jobs:
-  # build on Ubuntu docker images
   build:
-    name: "${{ matrix.image }} (${{ matrix.ros }})"
+    name: "ROS2 ${{ matrix.ros }} (${{ matrix.os }})"
 
-    runs-on: ubuntu-latest
+    runs-on: ${{ matrix.os }}
+    continue-on-error: ${{ matrix.ros == 'rolling' }}
+    env:
+      ROS_DISTRO: ${{ matrix.ros }}
 
     strategy:
+      fail-fast: false
       matrix:
         include:
-            - {image: "ubuntu:22.04", ros: humble}
-            - {image: "ubuntu:24.04", ros: jazzy}
-            - {image: "ubuntu:26.04", ros: lyrical}
+          - {image: "ros:foxy-ros-core-focal", os: ubuntu-22.04, ros: foxy}
+          - {image: "ros:humble-ros-core-jammy", os: ubuntu-22.04, ros: humble}
+          - {image: "ros:jazzy-ros-core-noble", os: ubuntu-24.04, ros: jazzy}
+          - {image: "ros:lyrical-ros-core-resolute", os: ubuntu-26.04, ros: lyrical}
+          - {image: "ros:rolling-ros-core-resolute", os: ubuntu-26.04, ros: rolling}
 
     container:
       image: ${{ matrix.image }}
@@ -22,8 +32,24 @@ jobs:
     steps:
       - uses: actions/checkout@v6
 
-      - uses: ros-tooling/[email protected]
+      - name: Install build tools
+        shell: bash
+        run: |
+          set -euo pipefail
+          apt-get update
+          apt-get install --no-install-recommends --yes \
+            build-essential \
+            cmake \
+            git \
+            python3-colcon-common-extensions \
+            python3-rosdep
+          rosdep init || true
+          rosdep update --rosdistro "${ROS_DISTRO}" --include-eol-distros
 
-      - uses: ros-tooling/[email protected]
-        with:
-          target-ros2-distro: ${{ matrix.ros }}
+      - name: Install dependencies and build
+        shell: bash
+        run: |
+          set -eo pipefail
+          source "/opt/ros/${ROS_DISTRO}/setup.bash"
+          rosdep install --from-paths . --ignore-src --rosdistro "${ROS_DISTRO}" -y
+          colcon build --symlink-install --event-handlers console_direct+