Using setup-gazebo GitHub Action to install Gazebo in CI

[sauk2]

Closes #126

Summary

This PR changes the CI to use the setup-gazebo GitHub Action to configure a Gazebo environment. It replaces Harmonic's installation steps and passes input to the action to take care of the installation.

[srmainwaring]

@sauk2 thanks for the PR. Can you please squash and rebase your changes on main. The workflow favoured by ArduPilot does not use merge commits (https://ardupilot.org/dev/docs/git-rebase.html).

[sauk2]

@sauk2 thanks for the PR. Can you please squash and rebase your changes on main. The workflow favoured by ArduPilot does not use merge commits (https://ardupilot.org/dev/docs/git-rebase.html).

Sure, thanks for pointing it out! I have squashed all commits into one

[srmainwaring]

Thanks, this is definitely an improvement and we should be able to apply the same change to some of out other repos that depend on Gazebo and ros_gz.

[Ryanf55]

This is an excellent improvement. I checked through the action.yml file to see if there were any other options we could to set to speed up the CI, and didn't see any.

[sauk2]

This is an excellent improvement. I checked through the action.yml file to see if there were any other options we could to set to speed up the CI, and didn't see any.

A little off-topic but you could look at increasing the scope of your workflow by spawning multiple jobs using a matrix in case you decide to support multiple Gazebo distributions on different ubuntu versions.

[Ryanf55]

Yep, we use matrix on some other repos to maintain multiple ROS distros.

Are you interested in doing any more gazebo+CI+ROS related tasks for ArduPilot's Gazebo usage? We have a few you might be able to knock out that would be of great benefit to this project.

• Fixing rosdep errors by using Gazebo's rosdep keys list
• Adding some basic smoke tests of our examples that run in CI (arm, takeoff, send waypoint command, check the vehicle reaches a location)
• Adding support in CI for ROS 2 Jazzy

[sauk2]

Are you interested in doing any more gazebo+CI+ROS related tasks for ArduPilot's Gazebo usage? We have a few you might be able to knock out that would be of great benefit to this project.

• Fixing rosdep errors by using Gazebo's rosdep keys list
• Adding some basic smoke tests of our examples that run in CI (arm, takeoff, send waypoint command, check the vehicle reaches a location)
• Adding support in CI for ROS 2 Jazzy

Sorry, I missed this comment. I would be happy to contribute more! Could I ask you to raise issues so we can discuss this more?