Add ROS-CI using GitHub Actions based on Industrial-CI (#222)

* Add ROS-CI using GitHub Actions based on Industrial-CI

* [CI] ROS-CI without upstream workspace

* package.xml: Update dependencies for Noetic

* package.xml: Python 3 dependencies

.github/workflows/ros_ci.yml

+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: ROS-CI
+
+# This determines when this workflow is run
+on: [push, pull_request] # on all pushes and PRs
+
+jobs:
+  CI:
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: melodic}
+          - {ROS_DISTRO: noetic}
+    env:
+      CCACHE_DIR: /github/home/.ccache # Enable ccache
+      BUILDER: catkin_tools
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          submodules: recursive
+      # This step will fetch/store the directory used by ccache before/after the ci run
+      - uses: actions/cache@v2
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+      # Run industrial_ci
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{ matrix.env }}

package.xml

 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>hpp-fcl</name>
   <version>1.7.2</version>
   <description>An extension of the Flexible Collision Library.</description>
@@ -7,18 +7,22 @@
   Please check the repository URL for full list of authors and maintainers. -->
   <maintainer email="jmirabel@laas.fr">Joseph Mirabel</maintainer>
   <maintainer email="justin.carpentier@inria.fr">Justin Carpentier</maintainer>
-  <maintainer email="wolfgang.merkt@ed.ac.uk">Wolfgang Merkt</maintainer>
+  <maintainer email="opensource@wolfgangmerkt.com">Wolfgang Merkt</maintainer>
   <license>BSD</license>
 
   <url type="website">https://github.com/humanoid-path-planner/hpp-fcl</url>
 
   <build_depend>git</build_depend>
   <build_depend>doxygen</build_depend>
-  <build_depend>python-lxml</build_depend>
+  <build_depend condition="$ROS_PYTHON_VERSION == 2">python-lxml</build_depend>
+  <build_depend condition="$ROS_PYTHON_VERSION == 3">python3-lxml</build_depend>
   <doc_depend>doxygen</doc_depend>
-  <doc_depend>python-lxml</doc_depend>
-  <depend>python</depend>
-  <depend>python-numpy</depend>
+  <doc_depend condition="$ROS_PYTHON_VERSION == 2">python-lxml</doc_depend>
+  <doc_depend condition="$ROS_PYTHON_VERSION == 3">python3-lxml</doc_depend>
+  <depend condition="$ROS_PYTHON_VERSION == 2">python</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 2">python-numpy</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3">python3</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3">python3-numpy</depend>
   <depend>eigen</depend>
   <depend>boost</depend>
   <depend>assimp</depend>