CI Ubuntu 26.04 / ROS2 Lyrical and Rolling (#1716)

* CI Ubuntu 26.04 / ROS2 Lyrical and Rolling

* Added resolute docker

* added skip keys

* rolling

* Disabling rolling

* Updated ci config

* Enabling docker build (no push) on PR

* cancel pr jobs on recommit

* Added resolute to docker ci matrix

* OpenGV min cmake version

* bump package.xml version

* enabling rolling

* refactored cmake ros ci jobs

.github/workflows/cmake-ros.yml

@@ -22,62 +22,33 @@ jobs:
     # well on Windows or Mac.  You can convert this to a matrix build if you need
     # cross-platform coverage.
     # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
-    name: ${{ matrix.ros_distribution }}-${{ matrix.os }}
-    runs-on: ${{ matrix.os }}
+    name: ${{ matrix.ros_distribution }}
+    runs-on: ubuntu-latest
     strategy:
       fail-fast: false
       matrix:
-        ros_distribution: [ humble, jazzy, kilted, rolling ]
+        ros_distribution: [ humble, jazzy, kilted, lyrical, rolling]
         include:
         - ros_distribution: 'humble'
-          os: ubuntu-22.04
+          skip_keys: ""
         - ros_distribution: 'jazzy'
-          os: ubuntu-24.04
+          skip_keys: ""
         - ros_distribution: 'kilted'
-          os: ubuntu-24.04
+          skip_keys: ""
+        - ros_distribution: 'lyrical'
+          skip_keys: "libpointmatcher"
         - ros_distribution: 'rolling'
-          os: ubuntu-24.04
-
+          skip_keys: ""
+    container:
+      image: osrf/ros:${{ matrix.ros_distribution }}-desktop-full
     steps:   
-    - name: Setup ROS2
-      # https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html
-      run: |
-        sudo apt install software-properties-common
-        sudo add-apt-repository universe
-        sudo apt update && sudo apt install curl -y
-        export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}')
-        curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb"
-        sudo apt install /tmp/ros2-apt-source.deb
-        sudo apt update
-
+    - uses: actions/checkout@v4
     - uses: ros-tooling/setup-ros@v0.7
       with:
         required-ros-distributions: ${{ matrix.ros_distribution }}
-    
-    - uses: actions/checkout@v4
-
-    - name: Point rosdep to latest Rolling on Noble until github runners support ubuntu 26.04
-      if: matrix.ros_distribution == 'rolling'
-      run: |
-        echo "ROSDISTRO_INDEX_URL=https://raw.githubusercontent.com/ros/rosdistro/6527fa694360d609c1491528ed50437bd853af5b/index-v4.yaml" >> $GITHUB_ENV
-
-    - name: Install dependencies
-      run: |
-        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
-        rosdep update
-        rosdep install --from-paths ${{github.workspace}} -y
-
-    - name: Configure CMake
-      run: |
-        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
-        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
-
-    - name: Build
-      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
-
-    - name: Info
-      working-directory: ${{github.workspace}}/build/bin
-      run: |
-        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
-        ./rtabmap-console --version
+    - uses: ros-tooling/action-ros-ci@v0.4
+      with:
+        package-name: rtabmap
+        target-ros2-distro: ${{ matrix.ros_distribution }}
+        rosdep-skip-keys: "${{ matrix.skip_keys }}"