Create Dockerfile

.github/workflows/main.yml

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+name: A workflow for my Hello World file
+on: push
+
+jobs:
+  build:
+    name: Hello world action
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v1
+      - uses: ./action-a
+        with:
+          MY_NAME: "Mona"

action-a/Dockerfile

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+FROM ubuntu:focal
+
+# Fix locale
+RUN apt update && \
+    echo 'Etc/UTC' > /etc/timezone && \
+    ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
+    apt install -y \
+        sudo \
+        locales \
+        tzdata
+
+RUN locale-gen en_US.UTF-8; dpkg-reconfigure -f noninteractive locales
+ENV LANG en_US.UTF-8
+ENV LANGUAGE en_US.UTF-8
+ENV LC_ALL en_US.UTF-8
+
+# nvidia-container-runtime
+ENV NVIDIA_VISIBLE_DEVICES \
+    ${NVIDIA_VISIBLE_DEVICES:-all}
+ENV NVIDIA_DRIVER_CAPABILITIES \
+    ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
+
+# Add the ROS apt repository, then install away
+RUN sudo apt update
+RUN sudo apt install -y \
+        curl \
+        gnupg2 && \
+    sh -c 'curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -' && \
+    sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu focal main" > /etc/apt/sources.list.d/ros2-latest.list' && \
+    apt update && \
+    apt install -y  \
+        bash-completion \
+        build-essential \
+        cmake \
+        git \
+        libbullet-dev \
+        python3-colcon-common-extensions \
+        python3-flake8 \
+        python3-pip \
+        python3-pytest-cov \
+        python3-rosdep \
+        python3-setuptools \
+        python3-vcstool \
+        wget && \
+    apt install --no-install-recommends -y \
+        libasio-dev \
+        libtinyxml2-dev \
+        libcunit1-dev && \
+    python3 -m pip install -U \
+        argcomplete \
+        flake8-blind-except \
+        flake8-builtins \
+        flake8-class-newline \
+        flake8-comprehensions \
+        flake8-deprecated \
+        flake8-docstrings \
+        flake8-import-order \
+        flake8-quotes \
+        pytest-repeat 
+
+# install Fast-RTPS dependencies
+RUN sudo apt install --no-install-recommends -y \
+  	libasio-dev \
+  	libtinyxml2-dev
+
+ENTRYPOINT ["/entrypoint.sh"]

action-a/action.yml

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+name: Test Example
+
+on:
+  pull_request:
+  push:
+    branches:
+      - master
+
+jobs:
+  build-and-test:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-latest, windows-latest, macos-latest]
+      fail-fast: false
+    steps:
+    - name: Setup ROS 2
+      uses: ros-tooling/setup-ros@0.0.15
+    with:
+        required-ros-distributions: eloquent
+
+    - name: Run Tests
+      uses: ros-tooling/action-ros-ci@0.0.13
+      with:
+        package-name: example_package
+
+    - name: Upload Logs
+      uses: actions/upload-artifact@v1
+      with:
+        name: colcon-logs
+        path: ros_ws/log
+      if: always()

action-a/entrypoint.sh

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+#!/bin/sh -l
+
+sh -c "echo Hello world my name is $INPUT_MY_NAME"