Add noble-testing to enable kilted beta use (#82)

* Extend matrix to have a noble-testing version

Signed-off-by: Emerson Knapp <[email protected]>

Author: emersonknapp

.github/workflows/build.yml

@@ -9,13 +9,24 @@ on:
     - cron:  '0 0 * * *'
 
 jobs:
-  build_ubuntu_docker_image:
+  ubuntu_base:
     strategy:
       fail-fast: false
       matrix:
-          base_image_name: [ubuntu]
-          base_image_tag: [focal, jammy, noble]
-    name: "${{ matrix.base_image_name }}-${{ matrix.base_image_tag }}"
+        include:
+          - source_tag: focal
+            target_tag: focal
+            ros_version: ros
+          - source_tag: jammy
+            target_tag: jammy
+            ros_version: ros2
+          - source_tag: noble
+            target_tag: noble
+            ros_version: ros2
+          - source_tag: noble
+            target_tag: noble-testing
+            ros_version: ros2-testing
+    name: "ubuntu-${{ matrix.target_tag }}"
     # always use latest linux worker, as it should not have any impact
     # when it comes to building docker images.
     runs-on: ubuntu-latest
@@ -47,15 +58,16 @@ jobs:
           platforms: linux/amd64,linux/arm64
           push: ${{ github.event_name != 'pull_request' }}
           build-args: |
-            BASE_IMAGE_NAME=${{ matrix.base_image_name }}
-            BASE_IMAGE_TAG=${{ matrix.base_image_tag }}
+            BASE_IMAGE_NAME=ubuntu
+            BASE_IMAGE_TAG=${{ matrix.source_tag }}
             VCS_REF=${{ github.sha }}
             ROS_DISTRO=none
+            ROS_VERSION=${{ matrix.ros_version }}
           tags: |
-            rostooling/setup-ros-docker:${{ matrix.base_image_name }}-${{ matrix.base_image_tag }}-latest
-            ghcr.io/ros-tooling/setup-ros-docker/setup-ros-docker-${{ matrix.base_image_name }}-${{ matrix.base_image_tag }}:master
+            rostooling/setup-ros-docker:ubuntu-${{ matrix.target_tag }}-latest
+            ghcr.io/ros-tooling/setup-ros-docker/setup-ros-docker-ubuntu-${{ matrix.target_tag }}:latest
 
-  build_ubuntu_docker_image_ros:
+  ros_variant:
     strategy:
       fail-fast: false
       matrix:

Dockerfile

@@ -23,6 +23,9 @@ ARG VCS_REF
 # The ROS distribution being targeted by this image
 ARG ROS_DISTRO
 
+# Override default APT sources, "ros", "ros2, or "ros2-testing"
+ARG ROS_VERSION=''
+
 # Additional APT packages to be installed
 #
 # This is used to build Docker images incorporating various ROS, or ROS 2

setup-ros.sh

@@ -33,17 +33,21 @@ apt-get install --no-install-recommends --quiet --yes tzdata
 update-ca-certificates
 curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
 
-ROS_VERSION="ros"
 RTI_CONNEXT_DDS=""
-case ${ROS_DISTRO} in
-	"noetic")
-		ROS_VERSION="ros"
-		;;
-	*)
-		RTI_CONNEXT_DDS="rti-connext-dds-6.0.1"
-		ROS_VERSION="ros2"
-		;;
-esac
+
+if [ -z $ROS_VERSION ]; then
+	ROS_VERSION='ros2'
+	case ${ROS_DISTRO} in
+		"noetic")
+			ROS_VERSION="ros"
+			;;
+		*)
+			RTI_CONNEXT_DDS="rti-connext-dds-6.0.1"
+			ROS_VERSION="ros2"
+			;;
+	esac
+fi
+
 echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/${ROS_VERSION}/ubuntu $(lsb_release -sc) main" |\
 	tee /etc/apt/sources.list.d/${ROS_VERSION}.list > /dev/null