ci.yaml: Update steps for ROS 2

These steps follow the installation instructions from the Rolling Ridley
documentation for setting up a new system.

These changes are necessary to use the ros2 Debian repository for newer
versions of Ubuntu.

https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debs.html

Signed-off-by: Rob Woolley <[email protected]>

.github/workflows/ci.yaml

@@ -22,9 +22,21 @@ jobs:
           python-version: ${{matrix.python}}
       - name: Install dependencies
         run: |
-          echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" | sudo tee -a /etc/apt/sources.list.d/ros-latest.list
-          wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc -O /tmp/ros.asc
-          sudo apt-key add /tmp/ros.asc
+          echo "Set locale"
+          sudo apt update && sudo apt install locales
+          sudo locale-gen en_US en_US.UTF-8
+          sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+          export LANG=en_US.UTF-8
+
+          echo "Enable required repositories"
+          sudo apt install software-properties-common
+          sudo add-apt-repository universe
+
+          sudo apt update && sudo apt install curl -y
+          sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+
+          echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
           sudo apt-get update -qq
           sudo apt-get install dpkg -y
           sudo apt-get install -y python3-rosdep