Add back setup-ros

Author: minggangw

.github/workflows/linux-build-and-test.yml

@@ -26,7 +26,7 @@ jobs:
     needs: identify-ros-distro
     runs-on: ubuntu-latest
     container:
-      image: osrf/ros:${{ needs.identify-ros-distro.outputs.distro }}-desktop-full
+      image: ${{ needs.identify-ros-distro.outputs.linuxos }}
     strategy:
       fail-fast: false
       matrix:
@@ -37,6 +37,11 @@ jobs:
       with:
         node-version: ${{ matrix.node-version }}
 
+    - name: Setup ROS2
+      uses: ros-tooling/[email protected]
+      with:
+        required-ros-distributions: ${{ needs.identify-ros-distro.outputs.distro }}
+
     - name: Install test-msgs on Linux
       run: |
         sudo apt install ros-${{ needs.identify-ros-distro.outputs.distro }}-test-msgs