add ROS2 github actions (#518)

* added ros2 ci for all distros and OS's

.github/workflows/ros_ci.yml

@@ -0,0 +1,67 @@
+name: ROS 2 CI
+
+on:
+  pull_request:
+    branches:
+      - 'ros2' # TODO(flynneva): rename rosbrige_suite ros2 branch to ros2/main
+      - 'ros2/*' # run on all branches that start with ros2/
+
+jobs:
+  test_environment: # Docker is not supported on OS X, and Windows.
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [macOS-latest, windows-latest]
+        ros_distribution: # Only include ROS 2 distributions for OS X, Windows
+          - dashing
+          - eloquent
+          - foxy
+    steps:
+      - uses: ros-tooling/setup-ros@0.0.25
+        with:
+          required-ros-distributions: ${{ matrix.ros_distribution }}
+      - name: build and test
+        uses: ros-tooling/action-ros-ci@0.0.17
+        with:
+          package-name: rosbridge_suite  # TODO: auto-set from repo name?
+
+  test_environment_linux:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        ros_distribution:
+          - dashing
+          - eloquent
+          - foxy
+        include:
+          # Dashing Diademata (May 2019 - May 2021)
+          - docker_image: ubuntu:bionic
+            ros_distribution: dashing
+            ros_version: 2
+          # Eloquent Elusor (November 2019 - November 2020)
+          - docker_image: ubuntu:bionic
+            ros_distribution: eloquent
+            ros_version: 2
+          # Foxy Fitzroy (June 2020 - May 2023)
+          - docker_image: ubuntu:focal
+            ros_distribution: foxy
+            ros_version: 2
+    container:
+      image: ${{ matrix.docker_image }}
+    steps:
+      - name: setup directories
+        run: mkdir -p ros_ws/src
+      - name: checkout
+        uses: actions/checkout@v2
+        with:
+          path: ros_ws/src
+      - name: setup ROS environment
+        uses: ros-tooling/setup-ros@0.0.25
+        with:
+          required-ros-distributions: ${{ matrix.ros_distribution }}
+      - name: build and test
+        uses: ros-tooling/action-ros-ci@0.0.17
+        with:
+          package-name: rosbridge_suite  # TODO: auto-set from repo name?
+          source-ros-binary-installation: ${{ matrix.ros_distribution }}