Revert "update CI"

This reverts commit abb837c.

.github/workflows/ci.yml

@@ -1,27 +1,68 @@
-name: CI (jazzy)
+name: CI
 on:
   push:
     branches: [ main ]
   pull_request:
     branches: [ main ]
-  workflow_dispatch:
-  schedule:
-    - cron: '0 0 * * 0'
 jobs:
-  build:
+  CI:
     runs-on: ubuntu-latest
-    container:
-      image: ubuntu:noble
+    permissions:
+      contents: read
+      issues: read
+      checks: write
+      pull-requests: write
     steps:
+      - name: Prepare
+        run: |
+          mkdir -p ${{github.workspace}}/src
       - uses: actions/checkout@v4
-      - uses: ros-tooling/[email protected]
         with:
-          use-ros2-testing: true
-      - name: Print ls and pwd
-        run: |
-          ls
-          pwd
-      - uses: ros-tooling/[email protected]
+          path: src/cartesian_controllers_ros2
+
+      - name: Build Docker Image
+        uses: docker/build-push-action@v6
+        with:
+          tags: cartesian_controllers_ros2:jazzy
+          file: .docker/ci/Dockerfile
+          push: false
+
+      - name: Build
+        uses: addnab/docker-run-action@v3
+        with:
+          image: cartesian_controllers_ros2:jazzy
+          options: -v ${{github.workspace}}/:/ros/
+          run: |
+            cd /ros # structure = <...>/ros/src/cartesian_controllers_ros2/<...>
+            . /opt/ros/jazzy/setup.sh
+            vcs import src < src/cartesian_controllers_ros2/cartesian_controllers_ros2.repos
+            rosdep install --ignore-src --from-paths . -y -r
+            colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install
+
+      - name: Tests
+        uses: addnab/docker-run-action@v3
+        with:
+          image: cartesian_controllers_ros2:jazzy
+          options: -v ${{github.workspace}}/:/ros/
+          run: |
+            cd /ros
+            . /opt/ros/jazzy/setup.sh
+            vcs import src < src/cartesian_controllers_ros2/cartesian_controllers_ros2.repos
+            rosdep install --ignore-src --from-paths . -y -r
+            colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install
+            source install/setup.bash
+            colcon test --event-handlers console_direct+
+            colcon test-result
+
+      - name: Upload Tests to Artifacts
+        uses: actions/upload-artifact@v4
+        if: always()
+        with:
+          name: test-results
+          path: build/*/test_results/*/*.xml
+
+      - name: Publish Unit Test Results
+        uses: EnricoMi/publish-unit-test-result-action@v2
+        if: always()
         with:
-          target-ros2-distro: jazzy
-          vcs-repo-file-url: ./cartesian_controllers_ros2.repos
+          files: build/*/test_results/*/*.xml