Add github actions CI instead of Jenkins #2

	name: Build Test
	on:
	push:
	branches:
	- 'master'
	pull_request:
	branches:
	- '*'

	jobs:
	build:
	runs-on: ubuntu-latest
	strategy:
	fail-fast: false
	matrix:
	config:
	- {rosdistro: 'noetic', container: 'ros:noetic-ros-base-focal'}
	container: ${{ matrix.config.container }}
	steps:
	- uses: actions/checkout@v1
	with:
	token: ${{ secrets.ACCESS_TOKEN }}
	github-token: ${{ secrets.GITHUB_TOKEN }}
	- name: Install catkin-tools on Noetic
	run: \|
	apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
	apt update && apt install -y python3-pip
	pip3 install osrf-pycommon
	apt update && apt install -y python3-wstool python3-catkin-tools
	- name: Install Dependencies
	run: \|
	$GITHUB_WORKSPACE/install/prepare-jenkins-slave.sh
	shell: bash
	- name: Build test
	working-directory:
	env:
	DEBIAN_FRONTEND: noninteractive
	run: \|
	apt update
	apt install -y autoconf libtool git qt5-default
	mkdir -p $HOME/catkin_ws/src;
	cd $HOME/catkin_ws
	catkin init
	catkin config --extend "/opt/ros/${{matrix.config.rosdistro}}"
	catkin config --merge-devel
	cd $HOME/catkin_ws/src
	ln -s $GITHUB_WORKSPACE
	cd $HOME/catkin_ws
	rosdep update
	rosdep install --from-paths src --ignore-src -y --rosdistro ${{matrix.config.rosdistro}}
	catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
	catkin build -j$(nproc) -l$(nproc)
	shell: bash

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