From 86975b42da713b414cd8a384cfb00d4fb3b1d823 Mon Sep 17 00:00:00 2001
From: Christian Rauch <Rauch.Christian@gmx.de>
Date: Mon, 16 Dec 2024 21:48:33 +0100
Subject: [PATCH 1/4] replace virtual environment with
 PIP_BREAK_SYSTEM_PACKAGES

---
 .github/workflows/main.yml | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 61683a3a..72fb5903 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -21,6 +21,8 @@ jobs:
 
     container:
       image: ubuntu:${{ matrix.version }}
+      env:
+        PIP_BREAK_SYSTEM_PACKAGES: 1
 
     steps:
       - name: fetch source
@@ -31,10 +33,7 @@ jobs:
 
       - name: colcon lint dependencies
         run: |
-          apt install -y python3-venv
           apt install -y apt-rdepends ros-${{ matrix.distribution }}-launch-ros
-          python3 -m venv ~/.venvs/dev
-          . ~/.venvs/dev/bin/activate
           pip install lark
           pip install colcon-lint
 
@@ -56,5 +55,4 @@ jobs:
         working-directory: ${{ steps.action_ros_ci.outputs.ros-workspace-directory-name }}
         run: |
           . install/setup.sh
-          . ~/.venvs/dev/bin/activate
           colcon lint

From fecec77647727bb309f709de443cb8345ff7332e Mon Sep 17 00:00:00 2001
From: Christian Rauch <Rauch.Christian@gmx.de>
Date: Mon, 16 Dec 2024 21:52:40 +0100
Subject: [PATCH 2/4] remove dedicated linting via third-party colcon lint

---
 .github/workflows/main.yml | 13 -------------
 1 file changed, 13 deletions(-)

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 72fb5903..97da3fd0 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -31,15 +31,8 @@ jobs:
       - name: install ROS2 ${{ matrix.distribution }}
         uses: ros-tooling/setup-ros@v0.7
 
-      - name: colcon lint dependencies
-        run: |
-          apt install -y apt-rdepends ros-${{ matrix.distribution }}-launch-ros
-          pip install lark
-          pip install colcon-lint
-
       - name: build and test
         uses: ros-tooling/action-ros-ci@v0.3
-        id: action_ros_ci
         with:
           package-name: camera_ros
           target-ros2-distro: ${{ matrix.distribution }}
@@ -50,9 +43,3 @@ jobs:
               }
             }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/5d51dff38097e8c2bf46d7a5b804e65935aa7f47/index.yaml
-
-      - name: colcon lint
-        working-directory: ${{ steps.action_ros_ci.outputs.ros-workspace-directory-name }}
-        run: |
-          . install/setup.sh
-          colcon lint

From 658696dc4d170c2afec7efa9f1c73a8e28633725 Mon Sep 17 00:00:00 2001
From: Christian Rauch <Rauch.Christian@gmx.de>
Date: Tue, 17 Dec 2024 20:57:10 +0100
Subject: [PATCH 3/4] remove unused checkout

---
 .github/workflows/main.yml | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 97da3fd0..85f312c2 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -25,9 +25,6 @@ jobs:
         PIP_BREAK_SYSTEM_PACKAGES: 1
 
     steps:
-      - name: fetch source
-        uses: actions/checkout@v4
-
       - name: install ROS2 ${{ matrix.distribution }}
         uses: ros-tooling/setup-ros@v0.7
 

From 8119e6832384bfb53cf1a0b01c997228bd95e6dd Mon Sep 17 00:00:00 2001
From: Christian Rauch <Rauch.Christian@gmx.de>
Date: Mon, 16 Dec 2024 21:35:46 +0100
Subject: [PATCH 4/4] add AlmaLinux to CI

---
 .github/workflows/main.yml | 33 +++++++++++++++++++++++----------
 1 file changed, 23 insertions(+), 10 deletions(-)

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 85f312c2..2be5333b 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -1,4 +1,4 @@
-name: camera_ros build
+name: colcon
 
 on:
   pull_request:
@@ -7,32 +7,45 @@ on:
 
 jobs:
   build:
-    name: camera_ros (${{ matrix.distribution }})
+    name: "${{ matrix.distribution }} (${{ matrix.ros }})"
     runs-on: ubuntu-latest
 
     strategy:
       matrix:
         include:
-          - version: 22.04
-            distribution: humble
-          - version: 24.04
-            distribution: jazzy
-    continue-on-error: ${{ matrix.distribution == 'rolling' }}
+          - distribution: ubuntu
+            version: 22.04
+            ros: humble
+
+          - distribution: ubuntu
+            version: 24.04
+            ros: jazzy
+
+          - distribution: almalinux
+            version: 9
+            ros: jazzy
+
+    continue-on-error: ${{ matrix.ros == 'rolling' }}
 
     container:
-      image: ubuntu:${{ matrix.version }}
+      image: ${{ matrix.distribution }}:${{ matrix.version }}
       env:
         PIP_BREAK_SYSTEM_PACKAGES: 1
 
     steps:
-      - name: install ROS2 ${{ matrix.distribution }}
+      - name: install ROS 2
         uses: ros-tooling/setup-ros@v0.7
 
+      - name: build and test dependencies (almalinux)
+        if: ${{ matrix.distribution == 'almalinux'}}
+        run: |
+          dnf -y install libasan python3-mypy
+
       - name: build and test
         uses: ros-tooling/action-ros-ci@v0.3
         with:
           package-name: camera_ros
-          target-ros2-distro: ${{ matrix.distribution }}
+          target-ros2-distro: ${{ matrix.ros }}
           colcon-defaults: |
             {
               "build": {