Update ROS1 CI to use ros-tooling actions. (#520)

.github/workflows/basic-build-ci.yaml

@@ -10,29 +10,18 @@ jobs:
     strategy:
       fail-fast: false
     container:
-      image: ros:noetic-perception
+      image: rostooling/setup-ros-docker:ubuntu-focal-ros-noetic-desktop-latest
     steps:
-    - name: Checkout repo
-      uses: actions/checkout@v2
-    - name: Create Workspace
-      run: |
-        mkdir src_tmp
-        mv `find -maxdepth 1 -not -name . -not -name src_tmp` src_tmp/
-        mv src_tmp/ src/
-        cd src
-        bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
-        catkin_init_workspace'
-    - name: Install Prerequisites
-      run: |
-        bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
-        apt-get update && rosdep update; \
-        rosdep install --from-paths src --ignore-src -y'
-    - name: Build Workspace
-      run: |
-        bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
-        catkin_make'
-    - name: Run Tests
-      run: |
-        bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
-        catkin_make run_tests; \
-        catkin_test_results --verbose'
+    - uses: ros-tooling/[email protected]
+      with:
+        required-ros-distributions: noetic
+    - uses: ros-tooling/[email protected]
+      with:
+        package-name: |
+          velodyne
+          velodyne_driver
+          velodyne_laserscan
+          velodyne_msgs
+          velodyne_pcl
+          velodyne_pointcloud
+        target-ros1-distro: noetic