Action for a docker based build

.github/workflows/ci.yml

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+name: Build and test ar3_ros
+
+on:
+  schedule:
+    - cron: '07 8 * * *'
+  pull_request:
+    branches: [ "main" ]
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v3
+
+      - name: Setup Docker buildx
+        uses: docker/setup-buildx-action@79abd3f86f79a9d68a23c75a09a9a85889262adf
+
+      - name: Build Docker image
+        id: build
+        uses: docker/build-push-action@ac9327eae2b366085ac7f6a2d02df8aa8ead720a
+        with:
+          context: .
+          push: false
+          cache-from: type=gha
+          cache-to: type=gha,mode=max

Dockerfile

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+ARG ROS_DISTRO="humble"
+
+FROM docker.io/ros:${ROS_DISTRO}
+
+# Support podman and docker when building locally
+# See https://github.com/opencontainers/runc/issues/2517
+RUN echo 'APT::Sandbox::User "root";' > /etc/apt/apt.conf.d/sandbox-disable
+
+ENV ROS_OVERLAY /opt/ros/ci
+
+WORKDIR $ROS_OVERLAY
+
+COPY ar3 src/ar3
+COPY ar3_bringup src/ar3_bringup
+COPY ar3_controllers src/ar3_controllers
+COPY ar3_description src/ar3_description
+COPY ar3_embedded src/ar3_embedded
+COPY ar3_hardware src/ar3_hardware
+COPY ar3_hardware_driver src/ar3_hardware_driver
+COPY ar3_msgs src/ar3_msgs
+
+RUN apt-get update && \
+    rosdep install -iy --from-paths src && \
+    rm -rf /var/lib/apt/lists/
+
+RUN . /opt/ros/${ROS_DISTRO}/setup.sh && \
+    colcon build
+
+RUN . /opt/ros/${ROS_DISTRO}/setup.sh && \
+    colcon test ; \
+    colcon test-result --verbose