Merge pull request #642 from k-okada/fix-ci

fix CI

.github/workflows/config.yml

@@ -23,7 +23,7 @@ jobs:
           - DOCKER_IMAGE: debian:stretch
           - DOCKER_IMAGE: osrf/ubuntu_armhf:trusty
           - DOCKER_IMAGE: osrf/ubuntu_armhf:xenial
-          - DOCKER_IMAGE: osrf/ubuntu_arm64:trusty
+          # - DOCKER_IMAGE: osrf/ubuntu_arm64:trusty  # deprecated
           - DOCKER_IMAGE: osrf/ubuntu_arm64:xenial
           - DOCKER_IMAGE: arm64v8/ubuntu:bionic
           - DOCKER_IMAGE: arm64v8/ubuntu:focal
@@ -48,16 +48,28 @@ jobs:
           export TRAVIS_OS_NAME=linux
           export DOCKER_IMAGE=${{matrix.DOCKER_IMAGE}}
           if [[ "$DOCKER_IMAGE" == *"arm"* ]]; then sudo apt-get install -y -qq qemu-user-static git; fi
-          if [[ "$DOCKER_IMAGE" == *"arm64v8"* ]]; then export QEMU_VOLUME="-v /usr/bin/qemu-aarch64-static:/usr/bin/qemu-aarch64-static"; fi #
+          if [[ "$DOCKER_IMAGE" == *"arm64v8"* ]]; then export QEMU_VOLUME="-v /usr/bin/qemu-aarch64-static:/usr/bin/qemu-aarch64-static"; export PLATFORM_OPTION="--platform linux/aarch64"; fi #
           echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME"
-          docker run --rm $QEMU_VOLUME -v $CI_SOURCE_PATH:$CI_SOURCE_PATH -e "DOCKER_IMAGE=$DOCKER_IMAGE" -e "COLLISION_LIB=$COLLISION_LIB" -e "CI_SOURCE_PATH=$CI_SOURCE_PATH" -e "HOME=$HOME" -t $DOCKER_IMAGE sh -c "cd $CI_SOURCE_PATH; ./.travis.sh"
+          docker run $PLATFORM_OPTION --rm $QEMU_VOLUME -v $CI_SOURCE_PATH:$CI_SOURCE_PATH -e "DOCKER_IMAGE=$DOCKER_IMAGE" -e "COLLISION_LIB=$COLLISION_LIB" -e "CI_SOURCE_PATH=$CI_SOURCE_PATH" -e "HOME=$HOME" -t $DOCKER_IMAGE sh -c "cd $CI_SOURCE_PATH; ./.travis.sh"
 
   catkin:
     runs-on: ubuntu-latest
-    container: ubuntu:18.04
+    container:
+      image: ubuntu:18.04
+      volumes:
+        - /tmp/node20:/__e/node20
     timeout-minutes: 60
 
     steps:
+      - name: Try to replace `node` with an glibc 2.17
+        shell: bash
+        run: |
+          ls -lar /__e/node20 &&
+          apt update && apt-get install -y curl &&
+          curl -Lo /tmp/node.tar.gz https://unofficial-builds.nodejs.org/download/release/v20.17.0/node-v20.17.0-linux-x64-glibc-217.tar.gz &&
+          cd /__e/node20 &&
+          tar -x --strip-components=1 -f /tmp/node.tar.gz &&
+          ls -lar /__e/node20/bin/
       - name: Checkout
         uses: actions/checkout@v2
       - name: Setup Apt
@@ -141,7 +153,7 @@ jobs:
 
 
   osx:
-    runs-on: macos-latest
+    runs-on: macos-13  # https://github.com/actions/runner-images/blob/main/images/macos/macos-13-Readme.md
     timeout-minutes: 60
     steps:
       - name: Checkout