CI: simplify clang-format helpers and use ros: docker images for stable builds

.github/workflows/build-ros.yml

@@ -14,20 +14,24 @@ jobs:
       matrix:
         include:
           # Humble Hawksbill (May 2022 - May 2027)
-          #- docker_image: ubuntu:jammy
-          #  ros_distribution: humble
-          #  use_ros_testing: false
+          - name: humble stable
+            docker_image: ros:humble
+            ros_distribution: humble
+            use_ros_testing: false
 
-          - docker_image: ubuntu:jammy
+          - name: humble testing
+            docker_image: ubuntu:jammy
             ros_distribution: humble
             use_ros_testing: true
 
           # Jazzy (2024 - ??)
-          #- docker_image: ubuntu:noble
-          #  ros_distribution: jazzy
-          #  use_ros_testing: false
+          - name: jazzy stable
+            docker_image: ros:jazzy
+            ros_distribution: jazzy
+            use_ros_testing: false
 
-          - docker_image: ubuntu:noble
+          - name: jazzy testing + coverage
+            docker_image: ubuntu:noble
             ros_distribution: jazzy
             use_ros_testing: true
             coverage_run: true
@@ -71,6 +75,14 @@ jobs:
           git checkout $GITHUB_SHA
           git submodule update --init --recursive
 
+      # Pre-built ros:* images have ROS base but need colcon/rosdep tooling.
+      - name: Install colcon and rosdep (pre-built ROS images)
+        if: startsWith(matrix.docker_image, 'ros:')
+        run: |
+          apt-get update
+          apt-get install -y python3-colcon-common-extensions python3-rosdep ros-dev-tools
+          test -f /etc/ros/rosdep/sources.list.d/20-default.list || rosdep init
+
       # 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.
@@ -88,7 +100,7 @@ jobs:
           apt-get update
 
       - name: setup ROS environment
-        if: matrix.docker_image != 'ubuntu:resolute'
+        if: matrix.use_ros_testing == true
         uses: ros-tooling/setup-ros@v0.7
         with:
           required-ros-distributions: ${{ matrix.ros_distribution }}

.github/workflows/check-clang-format.yml

@@ -3,38 +3,21 @@ name: CI clang-format
 on: [push, pull_request]
 
 jobs:
-  build:
-    name: ${{ matrix.name }}
-    runs-on: ${{ matrix.os }}
-
-    strategy:
-      fail-fast: false
-      matrix:
-        # Github Actions requires a single row to be added to the build matrix.
-        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
-        name: [
-          clang-format-check
-        ]
-
-        include:
-          - name: clang-format-check
-            os: ubuntu-latest
+  clang-format-check:
+    name: clang-format-check
+    runs-on: ubuntu-latest
 
     steps:
-      - name: Checkout
-        uses: actions/checkout@master
+      - uses: actions/checkout@v4
 
-      - name: Git submodule
+      - name: Git submodules
         run: |
           git submodule sync
           git submodule update --init --recursive
 
-      - name: Install Dependencies
-        run: |
-          sudo apt install clang-format-14 -yq
-          pip3 install --user -r .github/python_clang_format_reqs.txt
+      - name: Install clang-format-14
+        run: sudo apt-get update && sudo apt-get install -y clang-format-14
 
       - name: Check code style
-        run: |
-          echo "TASK=lint_all" >> $GITHUB_ENV
-          bash .github/check_style.sh
+        run: bash scripts/formatter.sh --check
+