Fix ROS build CI

.dockerignore

@@ -0,0 +1,3 @@
+.git/
+.github/
+Dockerfile

.github/workflows/ros_build_test.yml

@@ -0,0 +1,31 @@
+name: ROS Build Test
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - '*'
+
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - {rosdistro: 'melodic'}
+          - {rosdistro: 'noetic'}
+          - {rosdistro: 'galactic'}
+    steps:
+    - uses: actions/checkout@v3
+    - name: submodule update
+      run: git submodule update --init --recursive
+    -
+      name: Build and push
+      uses: docker/build-push-action@v3
+      with:
+        context: .
+        build-args: |
+          ROS_DISTRO=${{matrix.config.rosdistro}}

Dockerfile

@@ -0,0 +1,39 @@
+# This Dockerfile is for CI purposes only
+# To build this image from the root repo path:
+# docker build .
+ARG ROS_DISTRO=galactic
+FROM ros:${ROS_DISTRO}
+
+SHELL ["/bin/bash", "-c"]
+
+RUN apt-get update && apt-get install -y \
+    python3-colcon-common-extensions \
+    python3-pip \
+    git \
+ && rm -rf /var/lib/apt/lists/*
+
+COPY package.xml /ros_ws/src/mavlink_sitl_gazebo/package.xml
+
+WORKDIR /ros_ws/
+
+RUN apt-get update && \
+    rosdep update && \
+    rosdep install --from-paths src --ignore-src -y --rosdistro ${ROS_DISTRO} \
+ && rm -rf /var/lib/apt/lists/*
+
+WORKDIR /
+
+# Install mavlink
+RUN git clone --recursive --depth=1 https://github.com/mavlink/mavlink.git && \
+    cd mavlink && \
+    pip3 install future jinja2 && \
+    python3 -m pymavlink.tools.mavgen --lang=C++11 --wire-protocol=2.0 \
+        --output=/mavlink/include/mavlink/v2.0 message_definitions/v1.0/all.xml
+
+WORKDIR /ros_ws/
+
+COPY . /ros_ws/src/mavlink_sitl_gazebo
+
+RUN source "/opt/ros/${ROS_DISTRO}/setup.bash" && \
+    export CPLUS_INCLUDE_PATH=/mavlink/include/mavlink/v2.0 && \
+    colcon build

package.xml

@@ -37,8 +37,6 @@
   <!-- <run_depend>message_runtime</run_depend> -->
   <!-- Use test_depend for packages you need only for testing: -->
   <test_depend>gtest</test_depend>
-  <buildtool_depend>catkin</buildtool_depend>
-  <buildtool_depend>gazebo_ros</buildtool_depend>
   <build_depend>eigen</build_depend>
   <build_depend>gazebo_ros</build_depend>
   <build_depend>geometry_msgs</build_depend>
@@ -47,7 +45,6 @@
   <build_depend>mavros</build_depend>
   <build_depend>mavros_msgs</build_depend>
   <build_depend>protobuf-dev</build_depend>
-  <build_depend>roscpp</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>std_msgs</build_depend>
   <run_depend>eigen</run_depend>
@@ -60,8 +57,8 @@
   <run_depend>mavros</run_depend>
   <run_depend>mavros_msgs</run_depend>
   <run_depend>sensor_msgs</run_depend>
-  <run_depend>roscpp</run_depend>
   <run_depend>std_msgs</run_depend>
+  <build_depend>vision_opencv</build_depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>