Base image docker image and nightly CI to push, temporarily running o…

…n push

Signed-off-by: Aaron Chong <aaronchongth@gmail.com>

.github/docker/nexus-base/Dockerfile

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+ARG ROS_DISTRO=jazzy
+FROM docker.io/ros:$ROS_DISTRO-ros-base
+ARG NEXUS_BRANCH=main
+
+RUN apt update && apt install -y git curl libclang-dev clang clang-tools lld
+
+RUN mkdir -p /ws_nexus_base/src && cd /ws_nexus_base \
+  && curl --output abb.repos https://raw.githubusercontent.com/osrf/nexus/refs/heads/$NEXUS_BRANCH/abb.repos \
+  && vcs import /ws_nexus_base/src < abb.repos \
+  && curl --output rmf.repos https://raw.githubusercontent.com/osrf/nexus/refs/heads/$NEXUS_BRANCH/rmf.repos \
+  && vcs import /ws_nexus_base/src < rmf.repos
+
+RUN rosdep update && rosdep install --from-paths /ws_nexus_base/src -yi
+
+RUN cd /ws_nexus_base \
+  && . /opt/ros/$ROS_DISTRO/setup.sh \
+  && colcon build --merge-install --install-base /opt/nexus_base --cmake-args -DCMAKE_BUILD_TYPE=Release \
+  && rm -rf /ws_nexus_base
+
+RUN rm -rf \
+  /var/lib/apt/lists \
+  /dist

.github/workflows/nightly.yaml

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+name: nightly
+
+# on:
+#   schedule:
+#     # 2am SGT
+#     - cron: '0 18 * * *'
+
+on: [push]
+
+jobs:
+  build-nexus-base-image:
+    name: Push nexus base docker image to GitHub Packages
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        ros_distribution: [jazzy]
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Login to docker
+        uses: docker/login-action@v3
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Build and push nexus-base
+        uses: docker/build-push-action@v5
+        with:
+          push: true
+          build-args: |
+            ROS_DISTRO=${{ matrix.ros_distribution }}
+            NEXUS_BRANCH=base-docker-images
+          tags: ghcr.io/${{ github.repository }}/nexus-base:${{ matrix.ros_distribution }}-latest
+          context: .github/docker/nexus-base