ci: switch from custom-container CI to industrial_ci

.github/workflows/ci.yaml

@@ -4,33 +4,24 @@ on:
   workflow_dispatch:
   pull_request:
   push:
+    branches: [main]
 
 jobs:
-  build-and-test:
-    runs-on: ubuntu-22.04
-    container: ghcr.io/picknikrobotics/pick_ik:ci
-    env:
-      CCACHE_DIR: ${{ github.workspace }}/.ccache
+  industrial_ci:
+    strategy:
+      fail-fast: false
+      matrix:
+        env:
+          - {ROS_DISTRO: humble, ROS_REPO: main}
+          - {ROS_DISTRO: jazzy, ROS_REPO: main}
+          - {ROS_DISTRO: kilted, ROS_REPO: main}
+          # Rolling has migrated to Ubuntu Resolute. Packages land in
+          # ros2-testing first; the ros2 (main) repo lags during the base-OS
+          # transition. Point at testing + resolute so we exercise real
+          # rolling instead of the frozen Noble fossil.
+          - {ROS_DISTRO: rolling, ROS_REPO: testing, OS_CODE_NAME: resolute}
+    runs-on: ubuntu-latest
     steps:
-      - name: Check out the repo
-        uses: actions/checkout@v4
-      - name: Cache ccache
-        uses: pat-s/always-upload-cache@v3.0.11
-        with:
-          path: ${{ env.CCACHE_DIR }}
-          key: ccache-${{ github.sha }}-${{ github.run_id }}
-          restore-keys: |
-            ccache-${{ github.sha }}
-            ccache
-      - name: Source ROS Workspaces
-        run: |
-          . /opt/ros/rolling/setup.sh
-          echo "$(env)" >> $GITHUB_ENV
-      - name: Configure
-        run: cmake --preset relwithdebinfo
-      - name: Build
-        working-directory: ./build/relwithdebinfo
-        run: ninja
-      - name: Test
-        working-directory: ./build/relwithdebinfo
-        run: ctest . --rerun-failed --output-on-failure
+      - uses: actions/checkout@v4
+      - uses: ros-industrial/industrial_ci@master
+        env: ${{ matrix.env }}

package.xml

@@ -21,6 +21,7 @@
   <depend>tf2_kdl</depend>
   <depend>tl_expected</depend>
 
+  <test_depend>git</test_depend>
   <test_depend>moveit_resources_panda_moveit_config</test_depend>
 
   <export>