Implementation of Dynamic Window Pure Pursuit (DWPP) #1251

	name: Build Against Released Distributions

	on:
	workflow_dispatch:
	pull_request:
	branches:
	- main

	jobs:
	build-docker:
	runs-on: ubuntu-latest

	strategy:
	fail-fast: false
	matrix:
	ros_distro: [jazzy, kilted]

	steps:
	- name: Checkout repository
	uses: actions/checkout@v5

	- name: Set up Docker build context
	run: \|
	mkdir -p /tmp/docker_context/ws/src
	cp -r . /tmp/docker_context/ws/src
	echo 'FROM ghcr.io/ros-navigation/nav2_docker:${{ matrix.ros_distro }}-nightly

	RUN apt-get update && apt-get install -y \
	python3-pip \
	python3-colcon-common-extensions \
	python3-vcstool \
	git \
	curl \
	&& rm -rf /var/lib/apt/lists/*

	WORKDIR /root/ws

	COPY ws /root/ws

	RUN apt-get update && rosdep update && \
	rosdep install --from-paths src --ignore-src -r -y \
	--skip-keys=slam_toolbox

	RUN . /opt/ros/${{ matrix.ros_distro }}/setup.sh && colcon build --packages-skip nav2_system_tests nav2_bringup nav2_simple_commander nav2_loopback_sim navigation2' > /tmp/docker_context/Dockerfile


	- name: Build Docker image
	run: \|
	docker build -t nav2-${{ matrix.ros_distro }}-main-compatibility /tmp/docker_context

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