github-ci: melodic and noetic initial commit

[Minipada]

Hi,
Happy to participate in the World ROS I day activity with Brisa Robotics.

Here are my proposed changes to build on Melodic and Noetic.
I know melodic was not requested but it was a good starting point for me to get into Github actions.
In the ci file, you will notice melodic uses upstream but Noetic uses a tesseract fork I created (see https://github.com/brisa-robotics/tesseract/tree/noetic)

Some infos:
The reason for that is the switch to python3 in Noetic which makes packages.xml non compatible anymore.
python becomes python3
python-numpy becomes python3-numpy
orocos_kdl becomes liborocos-kdl-dev

For python3-numpy, see:
ros/rosdistro#24035

Regarding orocos, see mentions here:
ros/rosdistro#24009
ros/geometry2#447
and example there
https://github.com/ros/geometry2/pull/447/files

Finally,
I ignored ifopt in Noetic at the moment, it has no release since lunar (source: https://github.com/ethz-adrl/ifopt-release). You probably want to release one or we need to add an entry in rosdistro at least if lunar version is used

Correct me if I'm wrong, but now there are 2 possibilities on how to proceed.

1. Do you create a noetic branch on tesseract where I'd do a PR, and then change the github action file to point there?
2. Or do you make all python2 deprecated and i do a PR on master where python3 is mandatory
   Last point: should i remove the travis file?

Since this is part of World ROS I day, I'm available on google meet and irc if you want to discuss into more details.

Build result: https://github.com/brisa-robotics/trajopt_ros/runs/846092749?check_suite_focus=true

[mpowelson]

Thanks for doing this. I should have been more clear in my issue, we actually wanted a bionic build so that is fine. I was just listing the new builds we wanted to add in addition to the ones in Travis. While you don't have to add them if you don't want to, eventually we will want to add xenial, clang-tidy, clang-format, and codecov builds that we have in Tesseract

[Minipada]

To complete the ticket, Foxy was also requested. I could make it work but I had to apply changes to the Dockerfile. Should I make a PR on the dockerfile repo first?

[mpowelson]

To complete the ticket, Foxy was also requested. I could make it work but I had to apply changes to the Dockerfile. Should I make a PR on the dockerfile repo first?

Yeah if you don't mind, that would be great.

[Minipada]

I just noticed I commented on another PR.
Please ping me when foxy is on https://hub.docker.com/r/lharmstrong/tesseract/tags, i'll add the github action CI build right after.