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Add Docker BuildX config (backport #266) (#270)
* Add Docker BuildX config (#266) * Allow pushing to apl-ocean-engineering * Install cppzmq-dev for Gazebo * Allow pushing to apl-ocean-engineering * Reverse change in docker.yaml action. * Preliminary version of docker-bake.hcl and updated Docker workflow. * Updated comments in Dockerfile * Attempt to allow manual triggering of builds * Nope, that's not it. * Add preliminary label to all Docker images. * Removed redundant libcppzmq-dev * Hack to lowercase repo name * Re-activate the metadata-action, go back to stages in matrix. * Add comment on lowercasing. * Place files config at correct level. * Re-activate the metadata-action, go back to stages in matrix. * Place files config at correct level. * Switch to registry cache for CI * Removed stage from matrix * Update repo URL, fix list formatting. (cherry picked from commit a8681d0) # Conflicts: # .github/workflows/docker.yaml * Resolve conflicts while merging #266 --------- Co-authored-by: Aaron Marburg <amarburg@uw.edu>
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‎.docker/docker-bake.hcl‎

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#
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# Override these variables with environment variables
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# e.g.
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#
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# BLUE_ROS_DISTRO=iron docker buildx bake
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#
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# or
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#
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# export BLUE_ROS_DISTRO=iron
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# docker buildx bake
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#
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variable "BLUE_ROS_DISTRO" { default = "rolling" }
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variable "BLUE_GITHUB_REPO" { default = "robotic-decision-making-lab/blue" }
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group "default" {
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targets = ["ci", "robot", "desktop", "desktop-nvidia"]
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}
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# These are populated by the metadata-action Github action for each target
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# when building in CI
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#
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target "docker-metadata-action-ci" {}
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target "docker-metadata-action-robot" {}
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target "docker-metadata-action-desktop" {}
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target "docker-metadata-action-desktop-nvidia" {}
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#
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# All images can pull cache from the images published at Github
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# or local storage (within the Buildkit image)
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#
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# ... and push cache to local storage
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#
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target "ci" {
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inherits = ["docker-metadata-action-ci"]
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dockerfile = ".docker/Dockerfile"
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target = "ci"
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context = ".."
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args = {
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ROS_DISTRO = "${BLUE_ROS_DISTRO}"
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}
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tags = [
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"ghcr.io/${BLUE_GITHUB_REPO}:${BLUE_ROS_DISTRO}-ci"
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]
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labels = {
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"org.opencontainers.image.source" = "https://github.com/${BLUE_GITHUB_REPO}"
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}
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cache_from =[
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"ghcr.io/${BLUE_GITHUB_REPO}:cache-${BLUE_ROS_DISTRO}-ci",
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"ghcr.io/${BLUE_GITHUB_REPO}:cache-${BLUE_ROS_DISTRO}-robot",
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"ghcr.io/${BLUE_GITHUB_REPO}:cache-${BLUE_ROS_DISTRO}-desktop",
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"ghcr.io/${BLUE_GITHUB_REPO}:cache-${BLUE_ROS_DISTRO}-desktop-nvidia",
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"type=local,dest=.docker-cache"
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]
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cache_to = [
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"type=local,dest=.docker-cache"
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]
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platforms = ["linux/amd64", "linux/arm64"]
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}
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target "robot" {
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inherits = [ "ci", "docker-metadata-action-robot" ]
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target = "robot"
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tags = [
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"ghcr.io/${BLUE_GITHUB_REPO}:${BLUE_ROS_DISTRO}-robot"
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]
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cache_to = [
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"type=local,dest=.docker-cache"
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]
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}
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target "desktop" {
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inherits = [ "ci", "docker-metadata-action-desktop" ]
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target = "desktop"
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tags = [
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"ghcr.io/${BLUE_GITHUB_REPO}:${BLUE_ROS_DISTRO}-desktop"
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]
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cache_to = [
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"type=local,dest=.docker-cache"
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]
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# amd64 only builds for desktop and desktop-nvidia
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platforms = ["linux/amd64"]
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}
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target "desktop-nvidia" {
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inherits = [ "desktop", "docker-metadata-action-desktop-nvidia" ]
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target = "desktop-nvidia"
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tags = [
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"ghcr.io/${BLUE_GITHUB_REPO}:${BLUE_ROS_DISTRO}-desktop-nvidia"
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]
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cache_to = [
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"type=local,dest=.docker-cache"
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]
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}

‎.github/workflows/docker.yaml‎

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name: Docker
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on:
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schedule:
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- cron: "0 17 * * 6"
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# Disable schedule for preliminary testing
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# schedule:
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# - cron: "0 17 * * 6"
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push:
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branches:
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- jazzy
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PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'Robotic-Decision-Making-Lab/blue') }}
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jobs:
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ci:
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docker_build:
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strategy:
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fail-fast: false
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matrix:
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packages: write
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contents: read
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steps:
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- name: Checkout repository
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- name: Checkout
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uses: actions/checkout@v4
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- name: Log into registry
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if: env.PUSH == 'true'
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uses: docker/login-action@v3.3.0
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with:
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registry: ghcr.io
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username: ${{ github.actor }}
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password: ${{ secrets.GITHUB_TOKEN }}
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- name: Extract Docker metadata
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if: env.PUSH == 'true'
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id: meta
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uses: docker/metadata-action@v5.5.1
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with:
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images: ghcr.io/${{ github.repository }}
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tags: |
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type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }}
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- name: Build and push Docker image
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uses: docker/build-push-action@v6.7.0
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with:
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context: .
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file: .docker/Dockerfile
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build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
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target: ${{ github.job }}
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tags: ${{ steps.meta.outputs.tags }}
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labels: ${{ steps.meta.outputs.labels }}
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push: ${{ env.PUSH }}
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robot:
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strategy:
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fail-fast: false
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matrix:
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ROS_DISTRO: [jazzy]
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runs-on: ubuntu-latest
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permissions:
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packages: write
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contents: read
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steps:
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- name: Checkout repository
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uses: actions/checkout@v4
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- name: Set up QEMU
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uses: docker/setup-qemu-action@v3.2.0
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- # Add support for more platforms with QEMU (optional)
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# https://github.com/docker/setup-qemu-action
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name: Set up QEMU
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uses: docker/setup-qemu-action@v3
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- name: Set up Docker Buildx
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uses: docker/setup-buildx-action@v3
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- name: Log into registry
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if: env.PUSH == 'true'
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- if: env.PUSH == 'true'
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name: Log into registry
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uses: docker/login-action@v3.3.0
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with:
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registry: ghcr.io
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username: ${{ github.actor }}
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password: ${{ secrets.GITHUB_TOKEN }}
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- name: Extract Docker metadata
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# buildx bake, unfortunately, requires lower-cased repository names
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# This shell ... er, hack, creates a local variable containing
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# a down-cased version of $GITHUB_REPOSITORY
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#
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- id: lowercase-repo
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name: Repository to lowercase
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run: |
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echo "repository=${GITHUB_REPOSITORY@L}" >> $GITHUB_OUTPUT
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# Set metadata for each stage-image separately
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- name: Set Docker metadata for "ci"
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if: env.PUSH == 'true'
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id: meta
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id: meta-ci
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uses: docker/metadata-action@v5.5.1
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with:
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images: ghcr.io/${{ github.repository }}
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bake-target: docker-metadata-action-ci
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tags: |
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type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }}
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- name: Build and push Docker image
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uses: docker/build-push-action@v6.7.0
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with:
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context: .
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file: .docker/Dockerfile
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build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
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target: ${{ github.job }}
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tags: ${{ steps.meta.outputs.tags }}
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labels: ${{ steps.meta.outputs.labels }}
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push: ${{ env.PUSH }}
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platforms: linux/amd64
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#platforms: linux/amd64,linux/arm64
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desktop:
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strategy:
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fail-fast: false
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matrix:
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ROS_DISTRO: [jazzy]
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runs-on: ubuntu-latest
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permissions:
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packages: write
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contents: read
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steps:
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- name: Checkout repository
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uses: actions/checkout@v4
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- name: Log into registry
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if: env.PUSH == 'true'
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uses: docker/login-action@v3.3.0
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with:
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registry: ghcr.io
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username: ${{ github.actor }}
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password: ${{ secrets.GITHUB_TOKEN }}
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type=raw,value=${{ matrix.ROS_DISTRO }}-ci
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- name: Extract Docker metadata
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- name: Set Docker metadata for "robot"
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if: env.PUSH == 'true'
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id: meta
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id: meta-robot
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uses: docker/metadata-action@v5.5.1
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with:
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images: ghcr.io/${{ github.repository }}
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bake-target: docker-metadata-action-robot
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tags: |
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type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }}
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- name: Build and push Docker image
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uses: docker/build-push-action@v6.7.0
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with:
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context: .
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file: .docker/Dockerfile
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build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
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target: ${{ github.job }}
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tags: ${{ steps.meta.outputs.tags }}
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labels: ${{ steps.meta.outputs.labels }}
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push: ${{ env.PUSH }}
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desktop-nvidia:
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strategy:
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fail-fast: false
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matrix:
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ROS_DISTRO: [jazzy]
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runs-on: ubuntu-latest
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permissions:
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packages: write
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contents: read
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steps:
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- name: Checkout repository
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uses: actions/checkout@v4
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type=raw,value=${{ matrix.ROS_DISTRO }}-robot
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- name: Log into registry
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- name: Set Docker metadata for "desktop"
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if: env.PUSH == 'true'
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uses: docker/login-action@v3.3.0
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id: meta-desktop
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uses: docker/metadata-action@v5.5.1
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with:
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registry: ghcr.io
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username: ${{ github.actor }}
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password: ${{ secrets.GITHUB_TOKEN }}
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images: ghcr.io/${{ github.repository }}
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bake-target: docker-metadata-action-desktop
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tags: |
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type=raw,value=${{ matrix.ROS_DISTRO }}-desktop
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- name: Extract Docker metadata
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- name: Set Docker metadata for "desktop-nvidia"
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if: env.PUSH == 'true'
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id: meta
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id: meta-desktop-nvidia
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uses: docker/metadata-action@v5.5.1
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with:
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images: ghcr.io/${{ github.repository }}
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bake-target: docker-metadata-action-desktop-nvidia
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tags: |
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type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }}
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- name: Build and push Docker image
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uses: docker/build-push-action@v6.7.0
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type=raw,value=${{ matrix.ROS_DISTRO }}-desktop-nvidia
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- if: github.event_name == 'push'
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name: Build and push (non PR)
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uses: docker/bake-action@v5.5.0
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env:
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BLUE_ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
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BLUE_GITHUB_REPO: ${{ steps.lowercase-repo.outputs.repository }}
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with:
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context: .
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file: .docker/Dockerfile
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build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
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target: ${{ github.job }}
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tags: ${{ steps.meta.outputs.tags }}
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labels: ${{ steps.meta.outputs.labels }}
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workdir: .docker
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files: |
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./docker-bake.hcl
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${{ steps.meta-ci.outputs.bake-file }}
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${{ steps.meta-robot.outputs.bake-file }}
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${{ steps.meta-desktop.outputs.bake-file }}
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${{ steps.meta-desktop-nvidia.outputs.bake-file }}
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push: ${{ env.PUSH }}
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set: |
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*.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:cache-${{ matrix.ROS_DISTRO }}
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*.cache-to=type=registry,mode=max,ref=ghcr.io/${{ github.repository }}:cache-${{ matrix.ROS_DISTRO }}
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# Pull request builds are not cached; and only built for AMD64
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- if: github.event_name == 'pull_request'
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name: Build and push (PR)
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uses: docker/bake-action@v5.5.0
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env:
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BLUE_ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
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BLUE_GITHUB_REPO: ${{ steps.lowercase-repo.outputs.repository }}
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with:
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workdir: .docker
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files: |
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./docker-bake.hcl
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set: |
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*.platform=linux/amd64
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*.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:cache-${{ matrix.ROS_DISTRO }}
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*.cache-to=

‎.gitignore‎

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mav.tlog
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mav.tlog.raw
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logs/
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# Allow overrides in docker-bake
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.docker/docker-bake.override.hcl

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