Improve CI workflows

.dockerignore

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+.git

.github/workflows/ci.yml

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+name: ros_utilities CI
+
+on:
+  pull_request:
+  push:
+    branches:
+      - main
+
+env:
+  # Use docker.io for Docker Hub if empty
+  REGISTRY: ghcr.io
+  # github.repository as <account>/<repo>
+  IMAGE_NAME: bdaiinstitute/ros_utilties_jammy_humble
+
+defaults:
+  run:
+    shell: bash
+
+jobs:
+  lint:
+    name: Lint ros_utilities packages
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v3
+      - uses: actions/setup-python@v3
+      - name: Lint sources
+        uses: pre-commit/[email protected]
+  prepare_container:
+    name: Prepare Humble container for tests
+    runs-on: ubuntu-latest
+    needs: lint
+    permissions:
+      contents: read
+      packages: write
+      # This is used to complete the identity challenge
+      # with sigstore/fulcio when running outside of PRs.
+      id-token: write
+    outputs:
+      image: ${{ fromJSON(steps.meta.outputs.json).tags[0] }}
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v3
+      - name: Setup Docker buildx  # to workaround: https://github.com/docker/build-push-action/issues/461
+        uses: docker/setup-buildx-action@79abd3f86f79a9d68a23c75a09a9a85889262adf
+      - name: Log into registry ${{ env.REGISTRY }}
+        uses: docker/login-action@28218f9b04b4f3f62068d7b6ce6ca5b26e35336c  # https://github.com/docker/login-action
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+      - name: Extract metadata (tags, labels) for Docker
+        uses: docker/metadata-action@98669ae865ea3cffbcbaa878cf57c20bbf1c6c38  # https://github.com/docker/metadata-action
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+        id: meta
+      - name: Build and push Docker image (may be cached)
+        uses: docker/build-push-action@ac9327eae2b366085ac7f6a2d02df8aa8ead720a  # https://github.com/docker/build-push-action
+        with:
+          context: .
+          file: .devcontainer/Dockerfile
+          push: true
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          cache-from: type=gha
+          cache-to: type=gha,mode=max
+  build_and_test:
+    name: Build and test ros_utilities packages
+    runs-on: ubuntu-latest
+    needs: prepare_container
+    container:
+      image: ${{ needs.prepare_container.outputs.image }}
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v3
+      - name: Build and run tests
+        run: |
+          source /opt/ros/humble/setup.bash
+          colcon build --symlink-install
+          source install/setup.bash
+          colcon test --event-handlers console_direct+
+          colcon test-result --all --verbose

.github/workflows/maintenance.yaml

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+name: ros_utilities CI maintenance
+
+on:
+  schedule:
+    - cron: "0 0 * * 0"  # once a week
+
+env:
+  ORG_NAME: bdaiinstitute
+  # github.repository as <account>/<repo>
+  IMAGE_NAME: bdaiinstitute/ros_utilties_jammy_humble
+
+jobs:
+  clean-ghcr:
+    name: Prune old images from Github Container Registry
+    runs-on: ubuntu-latest
+    steps:
+      - name: Delete old pull request images
+        uses: snok/container-retention-policy@v2
+        with:
+          image-names: ${{ env.IMAGE_NAME }}
+          skip-tags: main
+          cut-off: One week ago UTC
+          account-name: ${{ env.ORG_NAME }}
+          account-type: org
+          token: ${{ secrets.GITHUB_TOKEN }}
+          token-type: github-token