Tentative ROS1/ROS2 test setup

Author: gonzalocasas

.github/workflows/build.yml

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+FROM ros:iron
+LABEL maintainer "Gonzalo Casas <[email protected]>"
+
+SHELL ["/bin/bash","-c"]
+
+# Install rosbridge
+RUN apt-get update && apt-get install -y \
+    ros-iron-rosbridge-suite \
+    ros-iron-tf2-web-republisher \
+    ros-iron-ros-tutorials \
+    ros-iron-actionlib-tutorials \
+    --no-install-recommends \
+    # Clear apt-cache to reduce image size
+    && rm -rf /var/lib/apt/lists/*
+
+# Copy entrypoint
+COPY ./integration-tests.launch /
+
+EXPOSE 9090
+
+CMD ["bash"]

docker/Dockerfile renamed to docker/ros1/Dockerfile

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+<launch>
+    <include file="$(find-pkg-share rosbridge_server)/launch/rosbridge_websocket_launch.xml">
+        <arg name="port" value="9092"/>
+    </include>
+    <!-- <node pkg="tf2_web_republisher" type="tf2_web_republisher" name="tf2_web_republisher"></node> -->
+</launch>

docker/integration-tests.launch renamed to docker/ros1/integration-tests.launch

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+#!/bin/bash
+set -e
+
+# setup ros2 environment
+source "/opt/ros/$ROS_DISTRO/setup.bash" --
+exec "$@"