Update CI (#138)

* Update CI

Signed-off-by: Pablo Garrido <pablogs9@gmail.com>

* Fix yml

Signed-off-by: Pablo Garrido <pablogs9@gmail.com>

* Update

Signed-off-by: Pablo Garrido <pablogs9@gmail.com>

* Ensure fastrtps rmw

Signed-off-by: Pablo Garrido <pablogs9@gmail.com>

* Modify approach

Signed-off-by: Pablo Garrido <pablogs9@gmail.com>

.github/workflows/ci.yml

@@ -3,36 +3,35 @@ name: CI micro-ROS Agent
 on:
     pull_request:
       branches:
-        - '**'
+        - 'main'
+    schedule:
+      - cron: '33 6 * * *'
 
 jobs:
 
     microros_agent_ci:
-        runs-on: ubuntu-20.04
+      runs-on: ${{ matrix.os }}
-        container: microros/base:rolling
+      strategy:
-
+        fail-fast: false
-        steps:
+        matrix:
-        - uses: actions/checkout@v2
+          os: [ ubuntu-20.04 ]
-          with:
+          ros_distribution: [ rolling ]
-            path: urosagent
+          include:
-
+            - docker_image: ubuntu:22.04
-        - name: Download dependencies
+              ros_distribution: rolling
-          run: |
+      container:
-            apt update
+        image: ubuntu:22.04
-            cd /uros_ws
+      steps:
-            . /opt/ros/$ROS_DISTRO/setup.sh
+      - uses: actions/checkout@v2
-            . install/local_setup.sh
+      - uses: ros-tooling/setup-ros@0.3.2
-            rosdep update --rosdistro=$ROS_DISTRO
+        with:
-            ros2 run micro_ros_setup create_agent_ws.sh
+          use-ros2-testing: false
-
+          required-ros-distributions: ${{ matrix.ros_distribution }}
-        - name: Patch branch
+      - name : Download and install dependencies
-          run: |
+        run: |
-            rm -rf /uros_ws/src/uros/micro-ROS-Agent/*
+          apt-get install ros-${{ matrix.ros_distribution }}-micro-ros-msgs
-            cp -R urosagent/* /uros_ws/src/uros/micro-ROS-Agent/
+          apt-get install ros-${{ matrix.ros_distribution }}-rmw-fastrtps-cpp
-
+      - uses : ros-tooling/action-ros-ci@0.2.5
-        - name: Build
+        with:
-          run:  |
+          package-name: "micro_ros_agent"
-            cd /uros_ws
+          target-ros2-distro: ${{ matrix.ros_distribution }}
-            . /opt/ros/$ROS_DISTRO/setup.sh
-            . install/local_setup.sh
-            ros2 run micro_ros_setup build_agent.sh