ci: add baseline ROS 2 CI image

.github/workflows/ci-image.yml

@@ -0,0 +1,65 @@
+
+name: Build CI Image
+
+on:
+  pull_request:
+    paths:
+      - "containers/ci/**"
+      - ".github/workflows/ci-image.yml"
+
+  push:
+    branches:
+      - main
+    paths:
+      - "containers/ci/**"
+      - ".github/workflows/ci-image.yml"
+
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+env:
+  REGISTRY: ghcr.io
+  IMAGE_NAME: openamrobot/ci-ros2-jazzy
+
+jobs:
+  build-and-push:
+    name: Build CI image
+    runs-on: ubuntu-24.04
+
+    permissions:
+      contents: read
+      packages: write
+
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@11d5960a326750d5838078e36cf38b85af677262 # v4.4.0
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@e468171a9de216ec08956ac3ada2f0791b6bd435 # v3.11.1
+
+      - name: Log in to GHCR
+        if: github.event_name == 'push' && github.ref == 'refs/heads/main'
+        uses: docker/login-action@c94ce9fb468520275223c153574b00df6fe4bcc9 # v3.7.0
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Build CI image and publish from main
+        id: build
+        uses: docker/build-push-action@10e90e3645eae34f1e60eeb005ba3a3d33f178e8 # v6.19.2
+        with:
+          context: .
+          file: containers/ci/Dockerfile
+          push: ${{ github.event_name == 'push' && github.ref == 'refs/heads/main' }}
+          tags: |
+            ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:latest
+            ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:${{ github.sha }}
+
+      - name: Print published image digest
+        if: github.event_name == 'push' && github.ref == 'refs/heads/main'
+        run: |
+          echo "Image: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}"
+          echo "Digest: ${{ steps.build.outputs.digest }}"

containers/ci/Dockerfile

@@ -0,0 +1,45 @@
+FROM ros:jazzy-ros-base@sha256:066420e07f60aa18262f2479981def87ebcfcec42eefb0c0c57c4a46098348ca
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Common CI and ROS workspace tooling
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    python3-colcon-common-extensions \
+    python3-rosdep \
+    python3-vcstool \
+    git \
+    curl \
+    \
+    # Platform ROS dependencies \
+    ros-jazzy-nav2-bringup \
+    ros-jazzy-nav2-common \
+    ros-jazzy-slam-toolbox \
+    ros-jazzy-nav2-bt-navigator \
+    ros-jazzy-nav2-behaviors \
+    ros-jazzy-nav2-controller \
+    ros-jazzy-nav2-lifecycle-manager \
+    ros-jazzy-nav2-map-server \
+    ros-jazzy-nav2-amcl \
+    ros-jazzy-nav2-planner \
+    ros-jazzy-nav2-smoother \
+    ros-jazzy-nav2-waypoint-follower \
+    ros-jazzy-nav2-velocity-smoother \
+    ros-jazzy-nav2-collision-monitor \
+    ros-jazzy-opennav-docking \
+    ros-jazzy-laser-filters \
+    ros-jazzy-rviz2 \
+    ros-jazzy-camera-ros \
+    ros-jazzy-joint-state-publisher \
+    ros-jazzy-joint-state-publisher-gui \
+    ros-jazzy-xacro \
+    ros-jazzy-ros-gz-sim \
+    ros-jazzy-ros-gz-bridge \
+    ros-jazzy-apriltag-msgs \
+    ros-jazzy-apriltag-ros \
+    ros-jazzy-nav2-msgs \
+    ros-jazzy-robot-localization \
+    ros-jazzy-topic-tools \
+    ros-jazzy-rmw-cyclonedds-cpp \
+    && rm -rf /var/lib/apt/lists/*
+
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp