CI: fix new ROS2 rolling ubuntu OS

Author: jlblancoc

.github/workflows/build-ros.yml

@@ -5,20 +5,13 @@ on: [ push ]
 
 jobs:
   build_docker:
-    # On Linux, iterates on all ROS 1 and ROS 2 distributions.
+    # On Linux, iterates on all ROS 2 distributions.
     runs-on: ubuntu-latest
     env:
       DEBIAN_FRONTEND: noninteractive
+    continue-on-error: ${{ matrix.allow_failure == true }}
     strategy:
       matrix:
-        # Define the Docker image(s) associated with each ROS distribution.
-        # The include syntax allows additional variables to be defined, like
-        # docker_image in this case. See documentation:
-        # https://help.github.com/en/actions/reference/workflow-syntax-for-github-actions#example-including-configurations-in-a-matrix-build
-        #
-        # Platforms are defined in REP 3 and REP 2000:
-        # https://ros.org/reps/rep-0003.html
-        # https://ros.org/reps/rep-2000.html
         include:
           # Humble Hawksbill (May 2022 - May 2027)
           - docker_image: ubuntu:jammy
@@ -37,20 +30,31 @@ jobs:
           - docker_image: ubuntu:noble
             ros_distribution: jazzy
             use_ros_testing: true
+            coverage_run: true
 
           # Rolling Ridley (No End-Of-Life)
-          - docker_image: ubuntu:noble
-            ros_distribution: rolling
-            use_ros_testing: false
-
-          - docker_image: ubuntu:noble
-            ros_distribution: rolling
-            use_ros_testing: true
-
-          - docker_image: ubuntu:noble
-            ros_distribution: rolling
-            use_ros2-testing: true
-            coverage_run: true
+          # TODO: migrate to ubuntu:resolute once rolling packages are published there.
+          # Track: https://discourse.openrobotics.org/t/preparing-for-rolling-sync-2026-04-23/54223
+          #- docker_image: ubuntu:noble
+          #  ros_distribution: rolling
+          #  use_ros_testing: false
+
+          #- docker_image: ubuntu:noble
+          #  ros_distribution: rolling
+          #  use_ros_testing: true
+
+          #- docker_image: ubuntu:noble
+          #  ros_distribution: rolling
+          #  use_ros_testing: true
+          #  coverage_run: true
+
+          # Lyrical Luth (May 2026 - May 2031, LTS)
+          # Beta packages available on resolute; GA release expected May 22, 2026.
+          # allow_failure until GA is released.
+          #- docker_image: ubuntu:resolute
+          #  ros_distribution: lyrical
+          #  use_ros_testing: true
+          #  allow_failure: true
 
     container:
       image: ${{ matrix.docker_image }}
@@ -61,18 +65,49 @@ jobs:
           TOKEN: ${{ secrets.GITHUB_TOKEN }}
         run: |
           apt-get -y update
-          apt-get -y install git
+          apt-get -y install git curl gnupg2 ca-certificates
           git clone https://$TOKEN@github.com/$GITHUB_REPOSITORY.git --recursive "$GITHUB_WORKSPACE"
           git config --global --add safe.directory "$GITHUB_WORKSPACE"
           git checkout $GITHUB_SHA
           git submodule update --init --recursive
 
+      # apt-key was removed in Ubuntu 26.04 (Resolute Raccoon). For resolute-based
+      # builds we set up the ROS repo manually before setup-ros runs, which would
+      # otherwise call apt-key internally and fail.
+      - name: Setup ROS apt repository (Ubuntu 26.04+)
+        if: matrix.docker_image == 'ubuntu:resolute'
+        run: |
+          curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
+            -o /usr/share/keyrings/ros-archive-keyring.gpg
+          echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] \
+            http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" \
+            | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+          echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] \
+            http://packages.ros.org/ros2-testing/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" \
+            | tee /etc/apt/sources.list.d/ros2-testing.list > /dev/null
+          apt-get update
+
       - name: setup ROS environment
+        if: matrix.docker_image != 'ubuntu:resolute'
         uses: ros-tooling/setup-ros@v0.7
         with:
           required-ros-distributions: ${{ matrix.ros_distribution }}
           use-ros2-testing: ${{ matrix.use_ros_testing }}
 
+      # On resolute, setup-ros can't be used (calls apt-key which is gone).
+      # Install the equivalent packages manually instead.
+      - name: Setup ROS environment (Ubuntu 26.04+)
+        if: matrix.docker_image == 'ubuntu:resolute'
+        run: |
+          apt-get install -y \
+            ros-${{ matrix.ros_distribution }}-ros-base \
+            python3-rosdep \
+            python3-colcon-common-extensions \
+            python3-colcon-mixin \
+            ros-dev-tools
+          rosdep init || true
+          rosdep update
+
       - name: Install rosdep dependencies
         run: |
           . /opt/ros/*/setup.sh
@@ -93,7 +128,6 @@ jobs:
           # Inject Coverage Build Type
           if [ "${{ matrix.coverage_run }}" = "true" ]; then
             echo "Enabling Coverage build type..."
-            # This flag forces the use of the gcov flags defined in CMakeLists.txt
             EXTRA_CMAKE_ARGS="$EXTRA_CMAKE_ARGS -DCMAKE_BUILD_TYPE=Coverage"
           fi
 
@@ -107,24 +141,16 @@ jobs:
       - name: Run unit tests
         run: |
           . /opt/ros/*/setup.sh
-          # Run tests regardless of coverage setting, as they are required to generate the .gcda files
           colcon test --event-handlers console_direct+
           colcon test-result --verbose
 
       - name: Generate coverage report
         if: matrix.coverage_run == true
         run: |
-          # 1. Capture coverage data across the entire workspace.
-          #    --ignore-errors mismatch fixes geninfo parsing errors
-          #    --rc geninfo_unexecuted_blocks=1 fixes warnings about unexecuted blocks
           lcov --capture --directory . --output-file coverage.info \
             --ignore-errors mismatch --rc geninfo_unexecuted_blocks=1
-
-          # 2. Filter the report: Remove all files outside of your source code
           lcov --remove coverage.info '/opt/ros/*' '/usr/*' \
             --ignore-errors unused --output-file coverage_filtered.info
-
-          # 3. Print a summary to the log
           echo "--- Coverage Summary for mola-state-estimation ---"
           lcov --list coverage_filtered.info
           echo "------------------------------------------"