CI: add jazzy build

Author: rhaschke

.github/workflows/ci.yaml

@@ -24,21 +24,21 @@ jobs:
             TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_FLAGS="--coverage"
           - IMAGE: rolling-source
             CLANG_TIDY: pedantic
-          - IMAGE: rolling-source
+          - IMAGE: jazzy-source
             NAME: asan
             # Add fast_unwind_on_malloc=0 to fix stacktraces being too short or do not make sense
             # see https://github.com/google/sanitizers/wiki/AddressSanitizer
             # Disable alloc/dealloc mismatch warnings: https://github.com/ros2/rclcpp/pull/1324
             DOCKER_RUN_OPTS: >-
-              -e PRELOAD=libasan.so.5
+              -e PRELOAD=libasan.so.8
               -e LSAN_OPTIONS="suppressions=$PWD/.github/workflows/lsan.suppressions,fast_unwind_on_malloc=0"
               -e ASAN_OPTIONS="new_delete_type_mismatch=0,alloc_dealloc_mismatch=0"
             TARGET_CMAKE_ARGS: -DCMAKE_CXX_FLAGS="-fsanitize=address -fno-omit-frame-pointer -O1 -g"
 
     env:
       CLANG_TIDY_ARGS: -quiet -export-fixes ${{ github.workspace }}/.work/clang-tidy-fixes.yaml
       DOCKER_IMAGE: moveit/moveit2:${{ matrix.env.IMAGE }}
-      UNDERLAY: /root/ws_moveit/install
+      UNDERLAY: ${{ endsWith(matrix.env.IMAGE, '-source') && '/root/ws_moveit/install' || ''}}
       # TODO: Port to ROS2
       # DOWNSTREAM_WORKSPACE: "github:ubi-agni/mtc_demos#master github:TAMS-Group/mtc_pour#master"
       TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Release