ci: add test for colcon-build-and-test (#36)

Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com>

.github/workflows/test-composite-actions.yaml

@@ -53,3 +53,27 @@ jobs:
           rosdistro: ${{ matrix.rosdistro }}
           target-packages: empty_target
           clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/tier4/proposal/.clang-tidy
+
+  test-colcon-build-and-test:
+    runs-on: ubuntu-latest
+    container: ros:${{ matrix.rosdistro }}
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro:
+          - galactic
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v2
+
+      - name: Create a package with no source files
+        run: |
+          . /opt/ros/${{ matrix.rosdistro }}/setup.sh
+          ros2 pkg create --build-type ament_cmake empty_target_cmake
+          ros2 pkg create --build-type ament_python empty_target_python
+
+      - name: Run colcon-build-and-test
+        uses: ./colcon-build-and-test
+        with:
+          rosdistro: ${{ matrix.rosdistro }}
+          target-packages: empty_target_cmake empty_target_python