Adapt to built-in ROS2 interface #912

	name: CI

	on: [push, pull_request]

	jobs:
	check:
	runs-on: ubuntu-latest
	steps:
	- uses: actions/checkout@v2
	- name: Set up Python 3.8
	uses: actions/setup-python@v1
	with:
	python-version: 3.8
	- name: Install dependencies
	run: \|
	python -m pip install --upgrade pip
	pip install -r requirements.txt
	- name: Check
	run: make check_format

	ros:
	runs-on: ubuntu-latest
	strategy:
	matrix:
	include:
	- docker_image: foxy
	ros_distro: foxy
	ros_python_version: 3
	container:
	image: ros:${{ matrix.docker_image }}
	env:
	SCENARIO_RUNNER_PATH: ""
	DEBIAN_FRONTEND: "noninteractive"
	ROS_DISTRO: ${{ matrix.ros_distro }}
	ROS_PYTHON_VERSION: ${{ matrix.ros_python_version }}
	steps:
	# We currently cannot use checkout@v2 because git version on ros images is below 2.18
	- uses: actions/checkout@v1
	with:
	fetch-depth: 1
	submodules: true
	- name: Setup
	run: \|
	./install_dependencies.sh
	sudo apt-get install --no-install-recommends -y python3-rospkg
	- name: ROS2 Build, Test, Lint
	shell: bash
	run: \|
	source /opt/ros/$(rosversion -d)/setup.bash
	colcon build --continue-on-error
	# colcon test && colcon test-result
	source install/setup.bash
	# make pylint
	# TODO enable pylint

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