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ArduPilot · May 10, 2023 · f2ba0d0 · f2ba0d0
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diff --git a/.github/workflows/build_and_push.yml b/.github/workflows/build_and_push.yml
@@ -14,7 +14,7 @@ on:
 
 jobs:
   build-base:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     steps:
       # git checkout the PR
       - uses: actions/checkout@v3
@@ -23,15 +23,6 @@ jobs:
         name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v2
 
-      -
-        name: Cache Docker layers
-        uses: actions/cache@v3
-        with:
-          path: /tmp/.buildx-cache
-          key: ${{ runner.os }}-buildx-${{ github.sha }}
-          restore-keys: |
-            ${{ runner.os }}-buildx-
-
       -
         name: Prepare
         id: prep
@@ -54,15 +45,15 @@ jobs:
           if [[ $VERSION =~ ^v[0-9]{1,3}\.[0-9]{1,3}\.[0-9]{1,3}$ ]]; then
             MINOR=${VERSION%.*}
             MAJOR=${MINOR%.*}
-            TAGS="$TAGS,${DOCKER_IMAGE}:${MINOR},${DOCKER_IMAGE}:${MAJOR},${DOCKER_IMAGE}:latest"
+            TAGS="$TAGS,${DOCKER_IMAGE}:${MINOR},${DOCKER_IMAGE}:${MAJOR}"
           elif [ "${{ github.event_name }}" = "push" ]; then
             TAGS="$TAGS,${DOCKER_IMAGE}:sha-${GITHUB_SHA::8}"
           fi
           echo "img_name=${DOCKER_IMAGE}" >> $GITHUB_OUTPUT
           echo "version=${VERSION}" >> $GITHUB_OUTPUT
           echo "tags=${TAGS}" >> $GITHUB_OUTPUT
           echo "created=$(date -u +'%Y-%m-%dT%H:%M:%SZ')" >> $GITHUB_OUTPUT
-            
+
       - name: Login to DockerHub
         if: github.event_name != 'pull_request'
         uses: docker/login-action@v2
@@ -77,7 +68,7 @@ jobs:
           context: ./
           file: docker/Dockerfile_dev-base
           tags: ${{ steps.prep.outputs.tags }}
-          push: ${{ startsWith(github.ref, 'refs/tags/') }}
+          push: true
           labels: |
             org.opencontainers.image.title=${{ steps.prep.outputs.img_name }}
             org.opencontainers.image.description=${{ github.event.repository.name }}
@@ -89,14 +80,11 @@ jobs:
             org.opencontainers.image.licenses=${{ github.event.repository.license.spdx_id }}
             org.label-schema.vcs-ref=${{ github.sha }}
             org.label-schema.vcs-url=${{ github.event.repository.clone_url }}
-          cache-from: type=local,src=/tmp/.buildx-cache
-          cache-to: |
-            type=local,dest=/tmp/.buildx-cache
- 
+
 
   build-main-images:
     needs: build-base
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
       matrix:
@@ -107,7 +95,6 @@ jobs:
             aarch64,
             coverage,
             # chibios-py2, # Deprecated
-            ros
         ]
     steps:
       # git checkout the PR
@@ -151,8 +138,8 @@ jobs:
           if [[ $VERSION =~ ^v[0-9]{1,3}\.[0-9]{1,3}\.[0-9]{1,3}$ ]]; then
             MINOR=${VERSION%.*}
             MAJOR=${MINOR%.*}
-            TAGS="$TAGS,${DOCKER_IMAGE}:${MINOR},${DOCKER_IMAGE}:${MAJOR},${DOCKER_IMAGE}:latest"
-            TAGS_BASE="$TAGS_BASE,${DOCKER_IMAGE_BASE}:${MINOR},${DOCKER_IMAGE_BASE}:${MAJOR},${DOCKER_IMAGE_BASE}:latest"
+            TAGS="$TAGS,${DOCKER_IMAGE}:${MINOR},${DOCKER_IMAGE}:${MAJOR},${DOCKER_IMAGE}"
+            TAGS_BASE="$TAGS_BASE,${DOCKER_IMAGE_BASE}:${MINOR},${DOCKER_IMAGE_BASE}:${MAJOR}"
           elif [ "${{ github.event_name }}" = "push" ]; then
             TAGS="$TAGS,${DOCKER_IMAGE}:sha-${GITHUB_SHA::8}"
             TAGS_BASE="$TAGS_BASE,${DOCKER_IMAGE_BASE}:sha-${GITHUB_SHA::8}"
@@ -163,14 +150,19 @@ jobs:
           echo "tags_base=${TAGS_BASE}" >> $GITHUB_OUTPUT
           echo "created=$(date -u +'%Y-%m-%dT%H:%M:%SZ')" >> $GITHUB_OUTPUT
 
+      - name: Pull Base Docker image
+        run: |
+          docker pull ardupilot/ardupilot-dev-base:${{ steps.prep.outputs.version }}
+          docker tag ardupilot/ardupilot-dev-base:${{ steps.prep.outputs.version }} ardupilot/ardupilot-dev-base:latest
+
       # Only push if it comes from tagging
       - name: Build ardupilot-dev-${{matrix.config}} images
         uses: docker/build-push-action@v4
         with:
           context: ./
           file: docker/Dockerfile_dev-${{matrix.config}}
           tags: ${{ steps.prep.outputs.tags }}
-          push: ${{ startsWith(github.ref, 'refs/tags/') }}
+          push: true
           labels: |
             org.opencontainers.image.title=${{ steps.prep.outputs.img_name }}
             org.opencontainers.image.description=${{ github.event.repository.name }}
@@ -186,7 +178,7 @@ jobs:
   # those need images from config, so we build them on second step
   build-sub-images:
     needs: build-main-images
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
       matrix:
@@ -238,8 +230,8 @@ jobs:
           if [[ $VERSION =~ ^v[0-9]{1,3}\.[0-9]{1,3}\.[0-9]{1,3}$ ]]; then
             MINOR=${VERSION%.*}
             MAJOR=${MINOR%.*}
-            TAGS="$TAGS,${DOCKER_IMAGE}:${MINOR},${DOCKER_IMAGE}:${MAJOR},${DOCKER_IMAGE}:latest"
-            TAGS_BASE="$TAGS_BASE,${DOCKER_IMAGE_BASE}:${MINOR},${DOCKER_IMAGE_BASE}:${MAJOR},${DOCKER_IMAGE_BASE}:latest"
+            TAGS="$TAGS,${DOCKER_IMAGE}:${MINOR},${DOCKER_IMAGE}:${MAJOR}"
+            TAGS_BASE="$TAGS_BASE,${DOCKER_IMAGE_BASE}:${MINOR},${DOCKER_IMAGE_BASE}:${MAJOR}"
           elif [ "${{ github.event_name }}" = "push" ]; then
             TAGS="$TAGS,${DOCKER_IMAGE}:sha-${GITHUB_SHA::8}"
             TAGS_BASE="$TAGS_BASE,${DOCKER_IMAGE_BASE}:sha-${GITHUB_SHA::8}"
@@ -250,14 +242,25 @@ jobs:
           echo "tags_base=${TAGS_BASE}" >> $GITHUB_OUTPUT
           echo "created=$(date -u +'%Y-%m-%dT%H:%M:%SZ')" >> $GITHUB_OUTPUT
 
+      - name: Pull Base Docker image
+        run: |
+          docker pull ardupilot/ardupilot-dev-base:${{ steps.prep.outputs.version }}
+          docker tag ardupilot/ardupilot-dev-base:${{ steps.prep.outputs.version }} ardupilot/ardupilot-dev-base:latest
+          docker pull ardupilot/ardupilot-dev-chibios:${{ steps.prep.outputs.version }}
+          docker tag ardupilot/ardupilot-dev-chibios:${{ steps.prep.outputs.version }} ardupilot/ardupilot-dev-chibios:latest
+          docker pull ardupilot/ardupilot-dev-armhf:${{ steps.prep.outputs.version }}
+          docker tag ardupilot/ardupilot-dev-armhf:${{ steps.prep.outputs.version }} ardupilot/ardupilot-dev-armhf:latest
+          docker pull ardupilot/ardupilot-dev-coverage:${{ steps.prep.outputs.version }}
+          docker tag ardupilot/ardupilot-dev-coverage:${{ steps.prep.outputs.version }} ardupilot/ardupilot-dev-coverage:latest
+
       # Only push if it comes from tagging
       - name: Build ardupilot-dev-${{matrix.config}} images
         uses: docker/build-push-action@v4
         with:
           context: ./
           file: docker/Dockerfile_dev-${{matrix.config}}
           tags: ${{ steps.prep.outputs.tags }}
-          push: ${{ startsWith(github.ref, 'refs/tags/') }}
+          push: true
           labels: |
             org.opencontainers.image.title=${{ steps.prep.outputs.img_name }}
             org.opencontainers.image.description=${{ github.event.repository.name }}
@@ -270,9 +273,8 @@ jobs:
             org.label-schema.vcs-ref=${{ github.sha }}
             org.label-schema.vcs-url=${{ github.event.repository.clone_url }}
 
-      # separated push action as the build-push-action@v2 don't support push for docker          
+      # separated push action as the build-push-action@v2 don't support push for docker
       # - name: Push ardupilot-dev-${{matrix.config}} images
       #   if: startsWith(github.ref, 'refs/tags/')
       #   run:  |
       #     docker push ardupilot/ardupilot-dev-${{matrix.config}}
-
diff --git a/docker/Dockerfile_dev-aarch64 b/docker/Dockerfile_dev-aarch64
@@ -1,4 +1,5 @@
-FROM ardupilot/ardupilot-dev-base
+# syntax=docker/dockerfile:1
+FROM ardupilot/ardupilot-dev-base:latest
 
 RUN apt-get update && apt-get install --no-install-recommends -y \
     g++-aarch64-linux-gnu \
@@ -7,4 +8,4 @@ RUN apt-get update && apt-get install --no-install-recommends -y \
     && apt-get clean \
     && apt-get -y autoremove \
     && apt-get clean autoclean \
-    && sudo rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
+    && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
diff --git a/docker/Dockerfile_dev-armhf b/docker/Dockerfile_dev-armhf
@@ -1,9 +1,10 @@
-FROM ardupilot/ardupilot-dev-base
+# syntax=docker/dockerfile:1
+FROM ardupilot/ardupilot-dev-base:latest
 
 RUN apt-get update && apt-get install --no-install-recommends -y \
     g++-arm-linux-gnueabihf \
     pkg-config-arm-linux-gnueabihf \
     && apt-get clean \
     && apt-get -y autoremove \
     && apt-get clean autoclean \
-    && sudo rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
+    && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
diff --git a/docker/Dockerfile_dev-armhf-musl b/docker/Dockerfile_dev-armhf-musl
@@ -1,4 +1,5 @@
-FROM ardupilot/ardupilot-dev-armhf
+# syntax=docker/dockerfile:1
+FROM ardupilot/ardupilot-dev-armhf:latest
 
 # Get ArduPilot MUSL ARM toolchain
 ARG MUSL_ROOT="arm-linux-musleabihf-cross"
@@ -18,4 +19,3 @@ ENV PATH="/opt/$MUSL_ROOT/bin:$PATH"
 
 # Set ccache to the PATH
 ENV PATH="/usr/lib/ccache:$PATH"
-
diff --git a/docker/Dockerfile_dev-base b/docker/Dockerfile_dev-base
@@ -1,6 +1,7 @@
+# syntax=docker/dockerfile:1
 FROM ubuntu:20.04
 
-ENV DEBIAN_FRONTEND=noninteractive 
+ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update \
     && apt-get install --no-install-recommends -y software-properties-common \
     && add-apt-repository ppa:git-core/ppa \
@@ -34,7 +35,7 @@ RUN apt-get update \
     && apt-get clean \
     && apt-get -y autoremove \
     && apt-get clean autoclean \
-    && sudo rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
+    && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
 
 RUN python -m pip install --no-cache-dir -U future lxml pexpect flake8==4.0.1 pycodestyle==2.8.0 empy pyelftools tabulate
 

diff --git a/docker/Dockerfile_dev-chibios b/docker/Dockerfile_dev-chibios
@@ -1,4 +1,5 @@
-FROM ardupilot/ardupilot-dev-base
+# syntax=docker/dockerfile:1
+FROM ardupilot/ardupilot-dev-base:latest
 
 # Get ArduPilot STM32 toolchain
 ARG ARM_ROOT="gcc-arm-none-eabi-10"

diff --git a/docker/Dockerfile_dev-chibios-clang b/docker/Dockerfile_dev-chibios-clang
@@ -1,12 +1,13 @@
-FROM ardupilot/ardupilot-dev-chibios
+# syntax=docker/dockerfile:1
+FROM ardupilot/ardupilot-dev-chibios:latest
 
 RUN apt-get update && apt-get install --no-install-recommends -y \
     clang-7 \
     llvm-7 \
     && apt-get clean \
     && apt-get -y autoremove \
     && apt-get clean autoclean \
-    && sudo rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
+    && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
 
 # symlink to compiler versions
 RUN ln -s /usr/bin/clang-7 /usr/bin/clang \

diff --git a/docker/Dockerfile_dev-chibios-py2 b/docker/Dockerfile_dev-chibios-py2
@@ -1,6 +1,6 @@
 FROM ubuntu:20.04
 
-ENV DEBIAN_FRONTEND=noninteractive 
+ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update \
     && apt-get install --no-install-recommends -y software-properties-common \
     && add-apt-repository ppa:git-core/ppa \
@@ -31,7 +31,7 @@ RUN apt-get update \
     && apt-get clean \
     && apt-get -y autoremove \
     && apt-get clean autoclean \
-    && sudo rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
+    && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
 
 RUN wget -q https://bootstrap.pypa.io/pip/2.7/get-pip.py && python get-pip.py && rm -f get-pip.py
 RUN python -m pip install --no-cache-dir -U future lxml pexpect flake8 pycodestyle empy pyserial

diff --git a/docker/Dockerfile_dev-clang b/docker/Dockerfile_dev-clang
@@ -1,12 +1,13 @@
-FROM ardupilot/ardupilot-dev-base
+# syntax=docker/dockerfile:1
+FROM ardupilot/ardupilot-dev-base:latest
 
 RUN apt-get update && apt-get install --no-install-recommends -y \
     clang-7 \
     llvm-7 \
     && apt-get clean \
     && apt-get -y autoremove \
     && apt-get clean autoclean \
-    && sudo rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
+    && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
 
 # symlink to compiler versions
 RUN ln -s /usr/bin/clang-7 /usr/bin/clang \

diff --git a/docker/Dockerfile_dev-coverage b/docker/Dockerfile_dev-coverage
@@ -1,9 +1,10 @@
-FROM ardupilot/ardupilot-dev-base
+# syntax=docker/dockerfile:1
+FROM ardupilot/ardupilot-dev-base:latest
 
 RUN apt-get update && apt-get install --no-install-recommends -y \
     lcov \
     gcovr \
     && apt-get clean \
 	&& apt-get -y autoremove \
 	&& apt-get clean autoclean \
-    && sudo rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
+    && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
diff --git a/docker/Dockerfile_dev-periph b/docker/Dockerfile_dev-periph
@@ -1,4 +1,5 @@
-FROM ardupilot/ardupilot-dev-coverage
+# syntax=docker/dockerfile:1
+FROM ardupilot/ardupilot-dev-coverage:latest
 
 RUN apt-get update && dpkg --add-architecture i386 \
     && apt-get update \
@@ -10,4 +11,4 @@ RUN apt-get update && dpkg --add-architecture i386 \
     && apt-get clean \
 	&& apt-get -y autoremove \
 	&& apt-get clean autoclean \
-    && sudo rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
+    && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
diff --git a/docker/Dockerfile_dev-ros b/docker/Dockerfile_dev-ros
@@ -1,6 +1,7 @@
+# syntax=docker/dockerfile:1
 FROM ros:humble-ros-base as main-setup
 
-ENV DEBIAN_FRONTEND=noninteractive 
+ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && apt-get install --no-install-recommends -y \
     lsb-release \
     sudo \
@@ -34,7 +35,7 @@ RUN apt-get update && apt-get install --no-install-recommends -y \
     && apt-get clean \
     && apt-get -y autoremove \
     && apt-get clean autoclean \
-    && sudo rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
+    && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
 
 RUN python -m pip install --no-cache-dir -U future lxml pexpect flake8 empy pyelftools tabulate pymavlink