Use docker container in CI

.github/workflows/cpp_ubuntu20_04.yml

@@ -1,17 +1,46 @@
 name: C++ Ubuntu 20.04
 
 on:
-  push:
-    branches: 
-    - "master"
   pull_request:
+    branches:
+      - "master"
 
 jobs:
   build:
-
-    runs-on: ubuntu-20.04
+    runs-on: [self-hosted, linux]
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - {rosdistro: 'noetic', container: 'ros:noetic-ros-base-focal', gcc: '9'}
+          - {rosdistro: 'noetic', container: 'ros:noetic-ros-base-focal', gcc: '10'}
+    container: ${{ matrix.config.container }}
 
     steps:
     - uses: actions/checkout@v3
-    - name: Run build script
-      run: ./.github/scripts/run_build_ubuntu20_04.sh
+      name: Checkout lpp
+      with:
+        repository: ethz-asl/lpp
+        token: ${{ secrets.PAT }}
+        path: catkin_ws/src/lpp
+
+    - name: Install newest git version
+      run: sudo apt update && sudo apt-get install -y software-properties-common && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git
+
+    - name: Install GCC version ${{ matrix.config.gcc}}
+      run: sudo add-apt-repository ppa:ubuntu-toolchain-r/ppa -y && sudo apt update && sudo apt install -y gcc-${{ matrix.config.gcc}} g++-${{ matrix.config.gcc}} && sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-${{ matrix.config.gcc}} 100 --slave /usr/bin/g++ g++ /usr/bin/g++-${{ matrix.config.gcc}}
+
+    - name: Install catkin tools
+      run: sudo apt install -y python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential python3-catkin-tools
+
+    - name: Install system dependencies
+      run: sudo apt install -y libgoogle-glog-dev
+
+    - name: Build lpp
+      run: source /opt/ros/noetic/setup.bash && catkin build lpp && source ${GITHUB_WORKSPACE}/catkin_ws/devel/setup.bash
+      working-directory: catkin_ws
+      shell: bash
+
+    - name: Run unittests
+      run: rosrun lpp test_lpp && rosrun lpp test_glog && rosrun lpp test_lpp_custom && rosrun lpp test_nolog && rosrun lpp test_default && rosrun lpp test_roslog
+