Include all LTS ROS2 on develop branch

Author: minggangw

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

@@ -38,17 +38,27 @@ jobs:
 
   build:
     needs: [identify-ros-distro, matrix-prep]
-    runs-on: ubuntu-${{ matrix.ubuntu-version }}
+    runs-on: ubuntu-latest
     container:
-      image: ${{ needs.identify-ros-distro.outputs.linuxos }}
+      image: ${{ matrix.docker_image }}
     strategy:
       fail-fast: false
       matrix:
         node-version: [20.X, 22.X, 24.X]
         architecture: [x64]
-        ubuntu-version: [latest]
-        # Include arm64 configuration from matrix-prep job
-        include: ${{ fromJSON(needs.matrix-prep.outputs.arm64-matrix) }}
+        include:
+            # Humble Hawksbill (May 2022 - May 2027)
+          - docker_image: ubuntu:jammy
+            ros_distribution: humble
+          # Jazzy Jalisco (May 2024 - May 2029)
+          - docker_image: ubuntu:noble
+            ros_distribution: jazzy
+          # Kilted Kaiju (May 2025 - Dec 2026)
+          - docker_image: ubuntu:noble
+            ros_distribution: rolling
+          # Rolling Ridley (No End-Of-Life)
+          - docker_image: ubuntu:noble
+            ros_distribution: rolling
     steps:
     - name: Setup Node.js ${{ matrix.node-version }} on ${{ matrix.architecture }}
       uses: actions/setup-node@v4
@@ -59,8 +69,7 @@ jobs:
     - name: Setup ROS2
       uses: ros-tooling/[email protected]
       with:
-        required-ros-distributions: ${{ needs.identify-ros-distro.outputs.distro }}
-        use-ros2-testing: true
+        required-ros-distributions: ${{ matrix.ros_distribution }}
 
     - name: Install test-msgs on Linux
       run: |