Create a github action that install Gazebo releases on Linux

[j-rivero]

Following the setup-ros repository inputs, the first step to build in this repository is the ability to run a GitHub action that install Gazebo releases on a given Linux platform:

See https://github.com/ros-tooling/setup-ros/blob/master/action.yml#L19-L37

  required-ros-distributions:
    description: |
      List of binary ROS distributions to be installed.

      On Ubuntu, this installs the desktop variant for the given distribution.
      On Windows, this downloads and extracts the binaries for the given distribution.
      This parameter is ignored on macOS.

      Allowed ROS distributions
      - "" (no value) - no ROS binary installation
      - noetic
      - humble
      - iron
      - jazzy
      - rolling

      Multiple values can be passed using a whitespace delimited list
      "noetic humble".

Lets try to build the same for required-gazebo-distributions.

For the installation some hints:

• Install the packages.osrfoundation.org repository
• Use the packages named gz-${distribution} to get everything installed (i.e gz-harmonic)
• Ignore the new vendor packages in Jazzy
• By now: use Ubuntu Focal for Citadel, Garden and Fortress. use Ubuntu Jammy for Harmonic. These are the gazebo distributions supported initially.

For testing, we can probably mirroring what is being done in:
https://github.com/ros-tooling/setup-ros/blob/master/.github/workflows/test.yml#L97-L158

[sauk2]

Install the packages.osrfoundation.org repository

@j-rivero, the approach used in setup-ros uses a hardcoded GPG key to add packages.osrfoundation.org repository to sources as seen in setup-ros-linux.ts. However when I tried a similar approach with adding gazebo I was getting the following error.

/usr/bin/sudo apt-get update
  Get:1 http://packages.osrfoundation.org/gazebo/ubuntu-stable focal InRelease [4,279 B]
  Err:1 http://packages.osrfoundation.org/gazebo/ubuntu-stable focal InRelease
    The following signatures couldn't be verified because the public key is not available: NO_PUBKEY 67170598AF249743
  Hit:2 http://security.ubuntu.com/ubuntu focal-security InRelease
  Hit:3 http://archive.ubuntu.com/ubuntu focal InRelease
  Hit:4 http://archive.ubuntu.com/ubuntu focal-updates InRelease
  Hit:5 http://archive.ubuntu.com/ubuntu focal-backports InRelease
  Reading package lists...
  W: GPG error: http://packages.osrfoundation.org/gazebo/ubuntu-stable focal InRelease: The following signatures couldn't be verified because the public key is not available: NO_PUBKEY 67170598AF249743
  E: The repository 'http://packages.osrfoundation.org/gazebo/ubuntu-stable focal InRelease' is not signed.

So currently I am working without a hardcoded GPG key as seen in setup-gazebo-linux.ts.

Do you think the method that I am following works for our use case? Or should I go back and investigate that issue and try to solve it?

[j-rivero]

I think that we can close this as DONE! 🚀