ci: add baseline ROS 2 CI image

[wikki26]

Summary

Adds the initial H-CI-1 baseline CI container image for ROS 2 Jazzy and a GitHub Actions workflow for publishing the image to GHCR.

Changes

• Pin ROS 2 Jazzy base image by digest
• Preinstall common CI/ROS tooling
• Preinstall platform ROS dependencies
• Configure CycloneDDS as the default RMW implementation
• Add GitHub Actions workflow for building and publishing the image to GHCR

Validation

Tested locally against openamr-platform-sw.

• All 7 ROS packages build successfully
• Clean colcon build --symlink-install: ~1m17s
• Previous cold dependency installation: ~6m50s
• Preinstalled dependencies remove the dependency-install step from the normal CI path

Known issue

micro_ros_agent does not currently have a rosdep definition for Ubuntu Noble. The platform workspace still builds successfully.

[cla-assistant]

All committers have signed the CLA.

[cla-assistant]

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[panthera-momagdii]

Direction is good, but H-CI-1 is not complete yet against the work-package acceptance you shared.

Please close these before approval:

1. The new image workflow only runs on push to main / manual dispatch, so this PR has no hosted Docker build validation. Add a PR build-only path (no GHCR push) so a broken Dockerfile cannot merge green.
2. After the publish path is proven, record/pin the produced image digest in the manifest.
3. Use that same pinned image for contributor development through a devcontainer, and show a contributor can open it and reach a working build.
4. Add evidence for the cold pull-request software gate staying within the 10-minute budget.
5. The image currently installs ros-jazzy-rplidar-ros, while the current 2.0 S3 path is moving to sllidar_ros2 from the pinned source manifest. Please either document why the legacy package is still intentionally needed in the baseline image or align the image with the current driver path.

Repository-quality and CLA are green, but they do not validate the container build/publish path itself. Re-request review once the hosted image build and H-CI-1 acceptance evidence are present.

[panthera-momagdii]

Direction is good, but H-CI-1 is not complete yet against the stated acceptance criteria.

Please close these before approval:

1. The image workflow only runs on push to main / manual dispatch, so this PR has no hosted Docker build validation. Add a pull-request build-only path (no GHCR push) so a broken Dockerfile cannot merge green.
2. After the publish path is proven, record and pin the produced image digest in the manifest.
3. Use the same pinned image for contributor development through a devcontainer and show that a contributor can open it and reach a working build.
4. Add evidence that a cold pull-request software gate stays within the 10-minute budget.
5. The image currently installs ros-jazzy-rplidar-ros, while the current 2.0 S3 path is moving to sllidar_ros2 from the pinned source manifest. Either document why the legacy package is intentionally kept in the baseline image or align the image with the current driver path.

Repository-quality and CLA are green, but they do not validate the container build/publish path itself. Re-request review once the hosted image build and H-CI-1 acceptance evidence are present.