ci: add ROS 2 CI workflow for humble and jazzy

.github/workflows/build.yaml

@@ -1,10 +1,11 @@
-# ROS build pipeline based on kr_mav_control build
-# https://github.com/KumarRobotics/kr_mav_control/blob/master/.github/workflows/build.yml
+# ROS 2 build pipeline
 name: build
 
 on:
   push:
-    branches: [main]
+    branches: [ros2]
+  pull_request:
+    branches: [ros2]
   workflow_dispatch:
   schedule:
     - cron: '0 0 * * 0'
@@ -13,37 +14,28 @@ jobs:
   build:
     strategy:
       matrix:
-        ros_distro: [noetic]
+        ros_distro: [humble, jazzy]
 
     runs-on: ubuntu-latest
     container: osrf/ros:${{ matrix.ros_distro }}-desktop
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
 
       - name: Apt dependencies
         run: |
           apt-get update
-          apt-get install -qy g++ libeigen3-dev git python3-catkin-tools
-          apt-get install -qy python3-colorama python3-zmq python3-lz4
+          apt-get install -qy python3-colcon-common-extensions python3-rosdep
+          apt-get install -qy python3-colorama python3-zmq python3-lz4 python3-pytest ros-${ROS_DISTRO}-smach
           rosdep update
           rosdep install --from-paths . --ignore-src -y -r --as-root apt:false
 
-      - name: Setup catkin workspace
-        run: |
-          . /opt/ros/${{ matrix.ros_distro }}/setup.sh
-          mkdir -p ${RUNNER_WORKSPACE}/catkin_ws/src
-          cd ${RUNNER_WORKSPACE}/catkin_ws
-          catkin init
-          catkin build -j2 --no-status -DCMAKE_BUILD_TYPE=Release
-
       - name: Build workspace
         run: |
           . /opt/ros/${{ matrix.ros_distro }}/setup.sh
-          cd ${RUNNER_WORKSPACE}/catkin_ws/src
-          ln -s ${GITHUB_WORKSPACE}
-          catkin build -j2 --no-status -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_STANDARD=17
+          colcon build --event-handlers console_direct+
 
       - name: Run Tests
         run: |
-          cd ${RUNNER_WORKSPACE}/catkin_ws/src/MOCHA/mocha_core/scripts/core/test
-          ./run_tests.sh ${RUNNER_WORKSPACE}/catkin_ws
+          . /opt/ros/${{ matrix.ros_distro }}/setup.sh
+          colcon test --event-handlers console_direct+
+          colcon test-result --verbose