ci: switch MAVROS tests to ROS Noetic container with ccache

Replace px4-dev-ros-melodic (Ubuntu 18.04, Gazebo 9, GCC 7.5.0) with
px4-dev-ros-noetic (Ubuntu 20.04, Gazebo 11.8.1, GCC 9.3.0).

This enables:
- Native container: support (GLIBC 2.31 vs 2.27, no docker-run hack)
- Shared ccache-sitl-gazebo-classic cache (same GCC 9.3.0 toolchain)
- Consistent Gazebo 11 across all SITL/integration test jobs
- Step-level visibility (build vs test separated)
- Shallow checkout (fetch-depth: 1 vs full history)

Signed-off-by: Ramon Roche <mrpollo@gmail.com>

Author: mrpollo

.github/workflows/ci-orchestrator.yml

@@ -1044,7 +1044,7 @@ jobs:
 
   mavros-tests:
     name: "T3: MAVROS Tests [${{ matrix.config.name }}]"
-    needs: [basic-tests, clang-tidy, ekf-functional-check, ubuntu-builds, macos-build, itcm-check, flash-analysis, failsafe-sim]
+    needs: [basic-tests, clang-tidy, ekf-functional-check, ubuntu-builds, macos-build, itcm-check, flash-analysis, failsafe-sim, build-sitl-gazebo-classic]
     if: >-
       always()
       && needs.basic-tests.result == 'success'
@@ -1054,42 +1054,81 @@ jobs:
       && needs.macos-build.result == 'success'
       && needs.itcm-check.result == 'success'
       && needs.flash-analysis.result == 'success'
+      && needs.build-sitl-gazebo-classic.result == 'success'
     runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
     permissions:
       contents: read
+    container:
+      image: px4io/px4-dev-ros-noetic:2021-09-08
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     strategy:
       fail-fast: false
       matrix:
         config:
           - {name: "Mission", test_file: "mavros_posix_test_mission.test", params: "mission:=MC_mission_box vehicle:=iris"}
           - {name: "Offboard", test_file: "mavros_posix_tests_offboard_posctl.test", params: "vehicle:=iris"}
     steps:
+      - uses: runs-on/action@v2
+
       - uses: actions/checkout@v4
         with:
-          fetch-depth: 0
+          fetch-depth: 1
+
+      - name: Setup - Configure Git Safe Directory
+        run: git config --system --add safe.directory '*'
+
+      - name: Setup - Install Python Test Dependencies
+        run: pip3 install pymavlink px4tools
+
+      - name: Cache - Restore ccache
+        uses: actions/cache/restore@v4
+        with:
+          path: ~/.ccache
+          key: ccache-sitl-gazebo-classic-${{ github.ref_name }}-${{ github.sha }}
+          restore-keys: |
+            ccache-sitl-gazebo-classic-${{ github.ref_name }}-
+            ccache-sitl-gazebo-classic-${{ github.base_ref || 'main' }}-
+            ccache-sitl-gazebo-classic-
+
+      - name: Cache - Configure ccache
+        run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          echo "compiler_check = content" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+      - name: Build - PX4 Firmware (SITL)
+        run: make px4_sitl_default
+
+      - name: Cache - Stats after PX4 Firmware
+        run: ccache -s
 
-      # PX4 fork of addnab/docker-run-action with Docker API v1.44+ support
-      # Use docker-run-action instead of container: at job level because:
-      # - ROS Melodic container is based on Ubuntu 18.04 (GLIBC 2.27)
-      # - GitHub Actions' container: support injects Node 20 which requires GLIBC 2.28+
-      # - docker-run-action runs the container separately, avoiding GLIBC compatibility issues
-      # - This approach is future-proof as GitHub updates Node versions
-      # TODO: Migrate to a newer ROS container with latest Ubuntu that meets GLIBC requirements
-      #       to use native container support and simplify the workflow configuration
-      - name: Build and Test - MAVROS ${{ matrix.config.name }}
+      - name: Build - Gazebo Classic Plugins
+        run: make px4_sitl_default sitl_gazebo-classic
+
+      - name: Cache - Stats after Gazebo Plugins
+        run: ccache -s
+
+      - name: Test - MAVROS ${{ matrix.config.name }}
         run: |
-          docker run --rm \
-            -v "${GITHUB_WORKSPACE}:/workspace" \
-            -w /workspace \
-            px4io/px4-dev-ros-melodic:2021-09-08 \
-            bash -c '
-              git config --global --add safe.directory /workspace
-              make px4_sitl_default
-              make px4_sitl_default sitl_gazebo-classic
-              ./test/rostest_px4_run.sh \
-                ${{ matrix.config.test_file }} \
-                ${{ matrix.config.params }}
-            '
+          ./test/rostest_px4_run.sh \
+            ${{ matrix.config.test_file }} \
+            ${{ matrix.config.params }}
+        timeout-minutes: 10
+
+      - name: Upload - Failed Test Logs
+        if: failure()
+        uses: actions/upload-artifact@v4
+        with:
+          name: failed-mavros-${{ matrix.config.name }}-logs.zip
+          path: |
+            logs/**/**/**/*.log
+            logs/**/**/**/*.ulg
 
   ros-translation-node:
     name: "T3: ROS Translation Node [${{ matrix.config.ros_version }}]"