feat(docker): provide modular images for openadkit planning simulator visualizer #4673
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| @@ -0,0 +1,197 @@ | ||
| name: docker-build-and-push-openadkit | ||
| description: "" | ||
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| inputs: | ||
| bake-target: | ||
| description: "" | ||
| required: true | ||
| bake-images: | ||
| description: "" | ||
| required: false | ||
| build-args: | ||
| description: "" | ||
| required: false | ||
| tag-prefix: | ||
| description: "" | ||
| required: false | ||
| tag-suffix: | ||
| description: "" | ||
| required: false | ||
| tag-arch: | ||
| description: "" | ||
| required: false | ||
| allow-push: | ||
| description: "" | ||
| default: "true" | ||
| required: false | ||
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| runs: | ||
| using: composite | ||
| steps: | ||
| - name: Setup Docker Buildx | ||
| uses: docker/setup-buildx-action@v2 | ||
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| - name: Set Docker tags | ||
| id: set-docker-tags | ||
| run: | | ||
| tags=() | ||
| if [ "${{ github.event_name }}" == "push" ] && [ "${{ github.ref_type }}" == "tag" ]; then | ||
| tags+=("$(echo "${{ github.ref }}" | sed -E 's/.*([vV][0-9]+\.[0-9]+\.[0-9]+).*/\1/')") | ||
| fi | ||
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| tags+=("{{date 'YYYYMMDD'}}") | ||
| tags+=("latest") | ||
| tags+=("latest-${{ inputs.tag-prefix }}") | ||
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| # Output multiline strings: https://docs.github.com/en/actions/using-workflows/workflow-commands-for-github-actions#multiline-strings | ||
| EOF=$(dd if=/dev/urandom bs=15 count=1 status=none | base64) | ||
| echo "tags<<$EOF" >> $GITHUB_OUTPUT | ||
| echo "$(printf "%s\n" "${tags[@]}")" >> $GITHUB_OUTPUT | ||
| echo "$EOF" >> $GITHUB_OUTPUT | ||
| shell: bash | ||
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| # openadkit modular images metadata | ||
| - name: Docker meta for openadkit:planning-control | ||
| id: meta-planning-control | ||
| uses: docker/metadata-action@v4 | ||
| with: | ||
| images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }} | ||
| tags: ${{ steps.set-docker-tags.outputs.tags }} | ||
| bake-target: docker-metadata-action-planning-control | ||
| flavor: | | ||
| latest=false | ||
| suffix=-planning-control${{ inputs.tag-arch }} | ||
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| - name: Docker meta for openadkit:visualizer | ||
| id: meta-visualizer | ||
| uses: docker/metadata-action@v4 | ||
| with: | ||
| images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }} | ||
| tags: ${{ steps.set-docker-tags.outputs.tags }} | ||
| bake-target: docker-metadata-action-visualizer | ||
| flavor: | | ||
| latest=false | ||
| suffix=-visualizer${{ inputs.tag-arch }} | ||
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| - name: Docker meta for openadkit:simulator | ||
| id: meta-simulator | ||
| uses: docker/metadata-action@v4 | ||
| with: | ||
| images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }} | ||
| tags: ${{ steps.set-docker-tags.outputs.tags }} | ||
| bake-target: docker-metadata-action-simulator | ||
| flavor: | | ||
| latest=false | ||
| suffix=-simulator${{ inputs.tag-arch }} | ||
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| - name: Login to GitHub Container Registry | ||
| if: ${{ github.event_name != 'pull_request' }} | ||
| uses: docker/login-action@v2 | ||
| with: | ||
| registry: ghcr.io | ||
| username: ${{ github.repository_owner }} | ||
| password: ${{ github.token }} | ||
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| - name: Build and Push to GitHub Container Registry | ||
| if: ${{ github.event_name == 'push' || github.event_name == 'schedule' || ( github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'registry') }} | ||
| uses: docker/bake-action@v3 | ||
| with: | ||
| push: ${{ inputs.allow-push == 'true' }} | ||
| files: | | ||
| docker/${{ inputs.bake-target }}/docker-bake.hcl | ||
| ${{ steps.meta-planning-control.outputs.bake-file }} | ||
| ${{ steps.meta-visualizer.outputs.bake-file }} | ||
| ${{ steps.meta-simulator.outputs.bake-file }} | ||
| provenance: false | ||
| targets: | | ||
| ${{ inputs.bake-images }} | ||
| set: | | ||
| ${{ inputs.build-args }} | ||
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| - name: Build only | ||
| if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }} | ||
| uses: docker/bake-action@v3 | ||
| with: | ||
| push: false | ||
| files: | | ||
| docker/${{ inputs.bake-target }}/docker-bake.hcl | ||
| ${{ steps.meta-planning-control.outputs.bake-file }} | ||
| ${{ steps.meta-visualizer.outputs.bake-file }} | ||
| ${{ steps.meta-simulator.outputs.bake-file }} | ||
| provenance: false | ||
| targets: | | ||
| ${{ inputs.bake-images }} | ||
| set: | | ||
| ${{ inputs.build-args }} | ||
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| - name: Output artifact URLs | ||
| if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }} | ||
| id: warn-no-artifacts | ||
| run: | | ||
| echo 'No artifacts uploaded because of disk space issue' | ||
| shell: bash | ||
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| # TODO:Enable after solving the issue with the disk space | ||
| # - name: Build and Save Artifacts | ||
| # if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }} | ||
| # uses: docker/bake-action@v3 | ||
| # with: | ||
| # push: false | ||
| # files: | | ||
| # docker/${{ inputs.bake-target }}/docker-bake.hcl | ||
| # ${{ steps.meta-planning-control.outputs.bake-file }} | ||
| # ${{ steps.meta-visualizer.outputs.bake-file }} | ||
| # ${{ steps.meta-simulator.outputs.bake-file }} | ||
| # provenance: false | ||
| # targets: | | ||
| # ${{ inputs.bake-images }} | ||
| # set: | | ||
| # ${{ inputs.build-args }} | ||
| # planning-control.output=type=docker,dest=/tmp/planning-control.tar | ||
| # visualizer.output=type=docker,dest=/tmp/visualizer.tar | ||
| # simulator.output=type=docker,dest=/tmp/simulator.tar | ||
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| # - name: Upload Artifact - planning-control | ||
| # if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }} | ||
| # id: artifact-upload-step-planning-control | ||
| # uses: actions/upload-artifact@v4 | ||
| # with: | ||
| # name: planning-control-image${{ inputs.tag-suffix }} | ||
| # path: /tmp/planning-control.tar | ||
| # retention-days: 7 | ||
| # compression-level: 6 | ||
| # overwrite: true | ||
| # if-no-files-found: warn | ||
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| # - name: Upload Artifact - visualizer | ||
| # if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }} | ||
| # id: artifact-upload-step-visualizer | ||
| # uses: actions/upload-artifact@v4 | ||
| # with: | ||
| # name: visualizer-image${{ inputs.tag-suffix }} | ||
| # path: /tmp/visualizer.tar | ||
| # retention-days: 7 | ||
| # compression-level: 6 | ||
| # overwrite: true | ||
| # if-no-files-found: warn | ||
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| # - name: Upload Artifact - simulator | ||
| # if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }} | ||
| # id: artifact-upload-step-simulator | ||
| # uses: actions/upload-artifact@v4 | ||
| # with: | ||
| # name: simulator-image${{ inputs.tag-suffix }} | ||
| # path: /tmp/simulator.tar | ||
| # retention-days: 7 | ||
| # compression-level: 6 | ||
| # overwrite: true | ||
| # if-no-files-found: warn | ||
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| # - name: Output artifact URLs | ||
| # if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }} | ||
| # id: output-artifact-urls | ||
| # run: | | ||
| # echo 'planning-control URL ${{ steps.artifact-upload-step-planning-control.outputs.artifact-url }}' | ||
| # echo 'visualizer URL ${{ steps.artifact-upload-step-visualizer.outputs.artifact-url }}' | ||
| # echo 'simulator URL ${{ steps.artifact-upload-step-simulator.outputs.artifact-url }}' | ||
| # shell: bash | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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@@ -43,10 +43,12 @@ jobs: | |
| lib_dir: aarch64 | ||
| setup-args: --no-nvidia | ||
| additional-tag-suffix: "" | ||
| bake-images: default | ||
| - name: cuda | ||
| base_image_env: base_image | ||
| lib_dir: aarch64 | ||
| additional-tag-suffix: -cuda | ||
| bake-images: default | ||
| steps: | ||
| # https://github.com/actions/checkout/issues/211 | ||
| - name: Change permission of workspace | ||
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@@ -85,10 +87,31 @@ jobs: | |
| *.args.BASE_IMAGE=${{ needs.load-env.outputs[format('{0}', matrix.base_image_env)] }} | ||
| *.args.SETUP_ARGS=${{ matrix.setup-args }} | ||
| *.args.LIB_DIR=${{ matrix.lib_dir }} | ||
| *.args.ARCH=arm64 | ||
| *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }} | ||
| *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }},mode=max | ||
| tag-suffix: ${{ matrix.additional-tag-suffix }} | ||
| tag-arch: -arm64 | ||
| tag-prefix: ${{ needs.load-env.outputs.rosdistro }} | ||
| bake-images: ${{ matrix.bake-images }} | ||
| allow-push: true | ||
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| - name: Build 'Open AD Kit' | ||
| if: ${{ matrix.name == 'no-cuda' }} | ||
| uses: ./.github/actions/docker-build-and-push-openadkit | ||
| with: | ||
| bake-target: openadkit | ||
| build-args: | | ||
| *.platform=linux/arm64 | ||
| *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }} | ||
| *.args.BASE_IMAGE=${{ needs.load-env.outputs[format('{0}', matrix.base_image_env)] }} | ||
| *.args.SETUP_ARGS=${{ matrix.setup-args }} | ||
| *.args.LIB_DIR=${{ matrix.lib_dir }} | ||
| *.args.ARCH=arm64 | ||
| tag-suffix: ${{ matrix.additional-tag-suffix }} | ||
| tag-arch: -arm64 | ||
| tag-prefix: ${{ needs.load-env.outputs.rosdistro }} | ||
| bake-images: ${{ matrix.bake-images }} | ||
| allow-push: true | ||
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| - name: Show disk space | ||
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We are using the version control tool. We can revert the commit. That's why removing them is simple.