[CI] No package for mc-panda on ubuntu 22.04 yet

.github/workflows/build.yml

@@ -15,18 +15,38 @@ jobs:
   build:
     strategy:
       matrix:
-        os: [ubuntu-20.04, ubuntu-22.04]
+        os: [ubuntu-20.04]
     runs-on: ${{ matrix.os }}
     steps:
     - uses: actions/checkout@v2
       with:
         submodules: recursive
-    - name: Install mc_panda and its dependencies
+    - name: Install ROS dependencies
+      if: matrix.os == 'ubuntu-20.04'
+      run: |
+        set -x
+        set -e
+        export ROS_DISTRO="noetic"
+        sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+        wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+        sudo apt-get update -qq
+        sudo apt-get -qq remove libomp5-9 || true
+        sudo apt-get install -qq ros-${ROS_DISTRO}-libfranka ros-${ROS_DISTRO}-franka-ros
+        . /opt/ros/${ROS_DISTRO}/setup.bash
+        echo "ROS_DISTRO=${ROS_DISTRO}" >> $GITHUB_ENV
+        echo "PKG_CONFIG_PATH=${PKG_CONFIG_PATH}" >> $GITHUB_ENV
+        echo "ROS_MASTER_URI=${ROS_MASTER_URI}" >> $GITHUB_ENV
+        echo "ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}" >> $GITHUB_ENV
+        echo "PYTHONPATH=${PYTHONPATH}" >> $GITHUB_ENV
+        echo "CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}" >> $GITHUB_ENV
+        echo "PATH=${PATH}" >> $GITHUB_ENV
+        echo "LD_LIBRARY_PATH=${LD_LIBRARY_PATH}" >> $GITHUB_ENV
+    - name: Install mc_rtc
       run: |
         set -x
         set -e
         curl -1sLf 'https://dl.cloudsmith.io/public/mc-rtc/head/setup.deb.sh' | sudo -E bash
-        sudo apt-get install -qq libmc-rtc-dev mc-rtc-utils python3-mc-rtc mc-panda
+        sudo apt-get install -qq libmc-rtc-dev mc-rtc-utils python3-mc-rtc ros-${ROS_DISTRO}-mc-rtc-plugin mc-panda
     - name: Build and test
       uses: jrl-umi3218/github-actions/build-cmake-project@master
       with: