From 90da079936c8c055895fed49317766be2a4de6e1 Mon Sep 17 00:00:00 2001
From: Daniel Saier <daniel.saier@optonic.com>
Date: Wed, 13 Aug 2025 08:49:00 +0200
Subject: [PATCH] CI: Run all ROS distributions from the same base image

GitHub Actions no longer supports Ubuntu 20.04, so tests for the older distributions were not running.

We now use the same Ubuntu 24 base image for all versions. We don't have to worry about compatibility since Industrial CI sets up the ROS distribution by itself.
---
 .github/workflows/build-and-test.yml | 52 +++-------------------------
 1 file changed, 5 insertions(+), 47 deletions(-)

diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml
index 73368f3..954a35c 100644
--- a/.github/workflows/build-and-test.yml
+++ b/.github/workflows/build-and-test.yml
@@ -43,65 +43,23 @@ jobs:
   build_and_test:
     needs: skip_duplicate_workflow_check
     if: ${{needs.skip_duplicate_workflow_check.outputs.should_skip != 'true'}}
-    runs-on: ${{matrix.os}}
-    name: "${{matrix.os}}-ros${{matrix.ros_version}}-${{matrix.ros_distro}}-sdk-${{matrix.ensenso_sdk_version}}"
+    runs-on: ubuntu-24.04
+    name: "ros${{matrix.ros_version}}-${{matrix.ros_distro}}-sdk-${{matrix.ensenso_sdk_version}}"
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-24.04]
-        ros_distro: [jazzy]
-        ros_version: [2]
+        ros_distro: [jazzy, humble, foxy, noetic]
         ensenso_sdk_version: [4.2.1765, 4.1.1033, 4.0.1526]
-        include:
-        # Ubuntu 22.04 - humble
-          - os: ubuntu-22.04
-            ros_distro: humble
-            ros_version: 2
-            ensenso_sdk_version: 4.2.1765
-          - os: ubuntu-22.04
-            ros_distro: humble
-            ros_version: 2
-            ensenso_sdk_version: 4.1.1033
-          - os: ubuntu-22.04
-            ros_distro: humble
-            ros_version: 2
-            ensenso_sdk_version: 4.0.1526
-        # Ubuntu 20.04 - foxy
-          - os: ubuntu-20.04
-            ros_distro: foxy
-            ros_version: 2
-            ensenso_sdk_version: 4.2.1765
-          - os: ubuntu-20.04
-            ros_distro: foxy
-            ros_version: 2
-            ensenso_sdk_version: 4.1.1033
-          - os: ubuntu-20.04
-            ros_distro: foxy
-            ros_version: 2
-            ensenso_sdk_version: 4.0.1526
-        # Ubuntu 20.04 - noetic
-          - os: ubuntu-20.04
-            ros_distro: noetic
-            ros_version: 1
-            ensenso_sdk_version: 4.2.1765
-          - os: ubuntu-20.04
-            ros_distro: noetic
-            ros_version: 1
-            ensenso_sdk_version: 4.1.1033
-          - os: ubuntu-20.04
-            ros_distro: noetic
-            ros_version: 1
-            ensenso_sdk_version: 4.0.1526
     steps:
       - name: Checkout
         uses: actions/checkout@v4
 
       - name: Prepare repo for ROS2 build
-        if: ${{ matrix.ros_version == '2' }}
+        if: ${{ matrix.ros_distro != 'noetic' }}
         run: ./.github/scripts/prepare_ros2_build.sh
         shell: bash
         env:
-          ROS_VERSION: ${{matrix.ros_version}}
+          ROS_VERSION: 2
           ROS_DISTRO: ${{matrix.ros_distro}}
 
       - name: Industrial CI - Build and Test