feat: add caret build job (humble, iron, jazzy)

.github/workflows/setup_and_build_caret.yaml

@@ -0,0 +1,33 @@
+name: Build CARET
+
+on:
+  schedule:
+    - cron: 0 17 * * * # run at 2 AM JST
+  pull_request:
+  workflow_dispatch:
+
+jobs:
+  build:
+    strategy:
+      matrix:
+        ros_distro: [humble, iron, jazzy]
+
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: actions/checkout@v5
+
+      - name: Clean up disk space
+        run: |
+          sudo apt-get autoremove -y
+          sudo apt-get clean
+          sudo rm -rf /usr/share/dotnet
+
+      - name: Docker Build
+        run: |
+          docker image build \
+            --no-cache \
+            --build-arg ROS_DISTRO=${{ matrix.ros_distro }} \
+            -t caret:${{ matrix.ros_distro }} \
+            -f ./docker/build_caret.dockerfile \
+            .

docker/build_caret.dockerfile

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+ARG ROS_DISTRO=humble
+ARG CARET_VERSION="main"
+
+FROM ros:${ROS_DISTRO}
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update -y && \
+    apt-get install -y --no-install-recommends \
+        locales \
+        && \
+    apt-get clean && \
+    rm -rf /var/lib/apt/lists/*
+RUN locale-gen en_US.UTF-8
+ENV LANG=en_US.UTF-8
+ENV TZ=Asia/Tokyo
+
+# Do not use cache
+ADD "https://www.random.org/sequences/?min=1&max=52&col=1&format=plain&rnd=new" /dev/null
+
+RUN git clone https://github.com/tier4/caret.git /ros2_caret_ws && \
+    cd /ros2_caret_ws && \
+    git checkout ${CARET_VERSION}
+
+# cspell: disable
+RUN if [ "$ROS_DISTRO" = "jazzy" ]; then \
+      apt-get update && \
+      apt-get install -y python3-pip python3-virtualenv && \
+      virtualenv -p python3 --system-site-packages $HOME/venv/jazzy ; \
+    fi
+# cspell: enable
+
+# cspell: disable
+RUN apt update && apt install -y git && \
+    apt-get install -y tzdata && \
+    ln -fs /usr/share/zoneinfo/Asia/Tokyo /etc/localtime && \
+    dpkg-reconfigure --frontend noninteractive tzdata
+# cspell: enable
+
+RUN echo "===== Setup CARET ====="
+RUN cd ros2_caret_ws && \
+    mkdir src && \
+    if [ "$ROS_DISTRO" = "humble" ]; then \
+        REPOS_FILE=caret.repos ; \
+    elif [ "$ROS_DISTRO" = "iron" ]; then \
+        REPOS_FILE=caret_iron.repos ; \
+    elif [ "$ROS_DISTRO" = "jazzy" ]; then \
+        REPOS_FILE=caret_jazzy.repos ; \
+    else \
+        echo "Unsupported ROS_DISTRO: $ROS_DISTRO" && exit 1 ; \
+    fi && \
+    vcs import src < $REPOS_FILE && \
+    . /opt/ros/"$ROS_DISTRO"/setup.sh && \
+    if [ "$ROS_DISTRO" = "jazzy" ]; then \
+        . $HOME/venv/jazzy/bin/activate ; \
+    fi && \
+    ./setup_caret.sh -c -d "$ROS_DISTRO"
+
+RUN echo "===== Build CARET ====="
+RUN cd ros2_caret_ws && \
+    . /opt/ros/"$ROS_DISTRO"/setup.sh && \
+    if [ "$ROS_DISTRO" = "jazzy" ]; then \
+      . $HOME/venv/jazzy/bin/activate ; \
+    fi && \
+    colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF