Use ros:iron and ros:rolling containers

.github/workflows/test.yml

@@ -2,36 +2,26 @@ name: CI
 
 on:
   push:
-    branches:
-    - main
   pull_request:
     branches:
     - main
 
 jobs:
   unit_tests:
     name: Unit Tests
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-latest
     strategy:
       matrix:
-        python-version: ['3.8', '3.9', '3.10']
+        containers: ['ros-iron', 'ros-rolling']
 
     steps:
     - name: Checkout
       uses: actions/checkout@v2
 
     - name: Setup python
-      uses: actions/setup-python@v2
-      with:
-        python-version: ${{ matrix.python-version }}
-        architecture: x64
-
-    - uses: actions/cache@v2
+      uses: actions/setup-python@v5
       with:
-        path: ~/.cache/pip
-        key: ${{ runner.os }}-pip-${{ hashFiles('**/setup.cfg') }}
-        restore-keys: |
-          ${{ runner.os }}-pip-
+        cache: 'pip'
 
     - name: Install pip dependencies
       run: |