ci: add baseline ROS 2 CI image

.github/workflows/ci-image.yml

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+name: Build CI Image
+
+on:
+  pull_request:
+    paths:
+      - "containers/ci/**"
+      - ".github/workflows/ci-image.yml"
+
+  push:
+    branches:
+      - main
+    paths:
+      - "containers/ci/**"
+      - ".github/workflows/ci-image.yml"
+
+  workflow_dispatch:
+    inputs:
+      publish_candidate:
+        description: "Publish CI image candidate from main to GHCR"
+        required: true
+        type: boolean
+        default: false
+
+permissions:
+  contents: read
+
+env:
+  REGISTRY: ghcr.io
+  IMAGE_NAME: openamrobot/ci-ros2-jazzy
+
+jobs:
+  # Untrusted PR code can build, but has read-only repository permissions
+  # and never receives registry credentials or packages: write.
+  build:
+    name: Validate CI image
+    if: github.event_name == 'pull_request'
+    runs-on: ubuntu-24.04
+
+    permissions:
+      contents: read
+
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@11d5960a326750d5838078e36cf38b85af677262 # v4.4.0
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@e468171a9de216ec08956ac3ada2f0791b6bd435 # v3.11.1
+
+      - name: Validate Docker image without publishing
+        uses: docker/build-push-action@10e90e3645eae34f1e60eeb005ba3a3d33f178e8 # v6.19.2
+        with:
+          context: .
+          file: containers/ci/Dockerfile
+          platforms: linux/amd64
+          push: false
+
+  # Only trusted main-branch code may publish to GHCR.
+  publish:
+    name: Publish CI image
+    if: >-
+      (github.event_name == 'push' &&
+       github.ref == 'refs/heads/main') ||
+      (github.event_name == 'workflow_dispatch' &&
+       github.ref == 'refs/heads/main' &&
+       inputs.publish_candidate == true)
+    runs-on: ubuntu-24.04
+
+    permissions:
+      contents: read
+      packages: write
+
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@11d5960a326750d5838078e36cf38b85af677262 # v4.4.0
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@e468171a9de216ec08956ac3ada2f0791b6bd435 # v3.11.1
+
+      - name: Log in to GHCR
+        uses: docker/login-action@c94ce9fb468520275223c153574b00df6fe4bcc9 # v3.7.0
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Build and publish image
+        id: build
+        uses: docker/build-push-action@10e90e3645eae34f1e60eeb005ba3a3d33f178e8 # v6.19.2
+        with:
+          context: .
+          file: containers/ci/Dockerfile
+          platforms: linux/amd64
+          push: true
+          tags: |
+            ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:${{ github.sha }}
+            ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:${{ github.event_name == 'push' && 'latest' || format('candidate-{0}', github.sha) }}
+
+      - name: Record published image digest
+        env:
+          IMAGE_DIGEST: ${{ steps.build.outputs.digest }}
+        run: |
+          echo "Image: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}"
+          echo "Digest: $IMAGE_DIGEST"
+          echo "Pinned reference: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}@$IMAGE_DIGEST"
+          {
+            echo "### ROS 2 CI image publication"
+            echo "Run ID: ${{ github.run_id }}"
+            echo "Source SHA: ${{ github.sha }}"
+            echo "Digest: $IMAGE_DIGEST"
+            echo "Pinned: \`${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}@$IMAGE_DIGEST\`"
+          } >> "$GITHUB_STEP_SUMMARY"

containers/ci/Dockerfile

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+FROM ros:jazzy-ros-base@sha256:066420e07f60aa18262f2479981def87ebcfcec42eefb0c0c57c4a46098348ca
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+# LiDAR driver policy:
+# Do not install the legacy ros-jazzy-rplidar-ros package in this baseline.
+# OpenAMRobot 2.0 targets RPLIDAR S3 using sllidar_ros2.
+# The S3 source driver is being pinned via openamrobot-manifest PR #18;
+# its installation and hardware validation are separate from this baseline.
+# camera_ros is intentionally retained for the existing robot: the
+# openamrobot_perception/package.xml declares an exec_depend on camera_ros,
+# and its IMX708 real-robot launch runs camera_ros/camera_node.
+# OpenAMRobot 2.0's Gemini 336L/Orbbec path has separate driver integration.
+#
+# Common CI and ROS workspace tooling
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    python3-colcon-common-extensions \
+    python3-rosdep \
+    python3-vcstool \
+    git \
+    curl \
+    \
+    # Platform ROS dependencies \
+    ros-jazzy-nav2-bringup \
+    ros-jazzy-nav2-common \
+    ros-jazzy-slam-toolbox \
+    ros-jazzy-nav2-bt-navigator \
+    ros-jazzy-nav2-behaviors \
+    ros-jazzy-nav2-controller \
+    ros-jazzy-nav2-lifecycle-manager \
+    ros-jazzy-nav2-map-server \
+    ros-jazzy-nav2-amcl \
+    ros-jazzy-nav2-planner \
+    ros-jazzy-nav2-smoother \
+    ros-jazzy-nav2-waypoint-follower \
+    ros-jazzy-nav2-velocity-smoother \
+    ros-jazzy-nav2-collision-monitor \
+    ros-jazzy-opennav-docking \
+    ros-jazzy-laser-filters \
+    ros-jazzy-rviz2 \
+    ros-jazzy-twist-mux \
+    ros-jazzy-camera-ros \
+    ros-jazzy-joint-state-publisher \
+    ros-jazzy-joint-state-publisher-gui \
+    ros-jazzy-xacro \
+    ros-jazzy-ros-gz-sim \
+    ros-jazzy-ros-gz-bridge \
+    ros-jazzy-apriltag-msgs \
+    ros-jazzy-apriltag-ros \
+    ros-jazzy-nav2-msgs \
+    ros-jazzy-robot-localization \
+    ros-jazzy-topic-tools \
+    ros-jazzy-rmw-cyclonedds-cpp \
+    && rm -rf /var/lib/apt/lists/*
+
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp