Create github action ci (#3049)

.github/workflows/linux.yml

@@ -0,0 +1,53 @@
+name: Linux
+on:
+  push:
+    branches: [ gazebo11 ]
+  pull_request:
+    branches: [ gazebo11 ]
+
+jobs:
+  build:
+    name: linux-build
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          fetch-depth: 2
+
+      - name: Install Required Dependencies
+        run: |
+          sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
+          wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
+          sudo apt-get update
+          wget https://raw.githubusercontent.com/ignition-tooling/release-tools/master/jenkins-scripts/lib/dependencies_archive.sh -O /tmp/dependencies.sh
+          GAZEBO_MAJOR_VERSION=11 ROS_DISTRO=dummy . /tmp/dependencies.sh
+          echo $BASE_DEPENDENCIES $GAZEBO_BASE_DEPENDENCIES | tr -d '\\' | xargs sudo apt-get -y install
+
+      - name: Optional Physics Engines
+        run: |
+          sudo apt-add-repository ppa:dartsim
+          sudo apt-get update
+          sudo apt-get install libdart6-dev
+          sudo apt-get install libdart6-utils-urdf-dev
+
+      - name: Optional Dependencies
+        run: |
+          sudo apt-get install xsltproc
+
+      - name: Man Page Support
+        run: |
+          sudo apt-get install ruby-ronn
+          
+      - name: Build Gazebo
+        run: |
+          mkdir build
+          cd build
+          cmake ../
+          make -j $(nproc --all)
+          
+      - name: Optional tests suite compilation
+        run: |
+          cd build
+          make tests