Add basic CI job that runs CMake builds (#259)

For now, we simply run "the default CMake generator on the latest
Ubuntu".  Later on, if we tighten up our notion of "supported CMake
configurations", we can add more options here.

Helps #215.

---------

Co-authored-by: Tim Hirsh <[email protected]>

.github/workflows/cmake-build-and-test.yml

@@ -0,0 +1,36 @@
+# Copyright 2024 Aurora Operations, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+name: cmake-build-and-test
+
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+
+jobs:
+  cmake-build-and-test:
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: actions/checkout@44c2b7a8a4ea60a981eaca3cf939b5f4305c123b #v4.1.5
+      - name: Setup CMake
+        uses: jwlawson/actions-setup-cmake@802fa1a2c4e212495c05bf94dba2704a92a472be #v2.0.2
+        with:
+          cmake-version: '3.29.x'
+      - name: Generate
+        run: cmake -S . -B cmake/build -DCMAKE_VERIFY_INTERFACE_HEADER_SETS=TRUE
+      - name: Build and test
+        run: cmake --build cmake/build --target all all_verify_interface_header_sets test