feat(ci,docker): save RUN --mount=type=cache ccache on GitHub Actions cache

[youtalk]

Description

• refactor(docker): use colcon mixin instead of raw --cmake-args args #4842

I've finally understood the BuildKit doesn't preserve cache mounts in the GitHub Actions cache by default. If we wish to put our cache mounts into GitHub Actions cache and reuse it between builds, we can use a workaround provided by reproducible-containers/buildkit-cache-dance

https://docs.docker.com/build/ci/github-actions/cache/#cache-mounts

I found that the buildkit-cache-dance action does not work effectively unless the setup-buildx-action action is executed beforehand, so it was temporarily moved from docker-build-and-push/action.yaml to the beginning of each workflow file. This will be improved in the next PR.

Tests performed

Currently, as part of autoware.universe is broken, I show the build results of only the core module.
https://github.com/youtalk/autoware/actions/runs/9462979885?pr=44

• 1st try (no cache):
  • docker-build-and-push-main (no-cuda) 10m 7s
  • docker-build-and-push-main (cuda) 16m 9s
• 2nd try (with cache):
  • docker-build-and-push-main (no-cuda) 4m 17s
  • docker-build-and-push-main (cuda) 5m 27s

Effects on system behavior

Not applicable.

Interface changes

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[xmfcx]

@youtalk I think after this PR was merged, docker-build-and-push-main-self-hosted.yaml started failing.

https://github.com/autowarefoundation/autoware/actions/runs/9477822140/job/26113063357#step:9:859

  /usr/bin/docker buildx bake --file docker/docker-bake.hcl --file /home/ubuntu/actions-runner/_work/_temp/docker-actions-toolkit-MB8IMw/docker-metadata-action-bake.json --file /home/ubuntu/actions-runner/_work/_temp/docker-actions-toolkit-Jw8xni/docker-metadata-action-bake.json --file /home/ubuntu/actions-runner/_work/_temp/docker-actions-toolkit-zQNIl8/docker-metadata-action-bake.json --set *.platform=linux/arm64 --set *.args.ROS_DISTRO=humble --set *.args.BASE_IMAGE=ros:humble-ros-base-jammy --set *.args.SETUP_ARGS= --set *.args.LIB_DIR=aarch64 --set *.cache-from=type=registry,ref=ghcr.io/autowarefoundation/autoware-buildcache:cuda-arm64-main --set *.cache-from=type=registry,ref=ghcr.io/autowarefoundation/autoware-buildcache:cuda-arm64-main --set *.cache-to=type=registry,ref=ghcr.io/autowarefoundation/autoware-buildcache:cuda-arm64-main,mode=max --provenance false --push --print
  unknown flag: --provenance
  See 'docker buildx bake --help'.

Do I need to install something to the arm64 machine to make this work? It is a self hosted machine and I have access to it.

[xmfcx]

I've updated the machine and maybe it will start working again 🤷‍♂️

https://github.com/autowarefoundation/autoware/actions/runs/9516463540

[youtalk]

@xmfcx Thank you! I think we need to update docker and you did it.

[xmfcx]

Yes, it seems the system upgrade solved it. I've also restarted and reinstalled the actions runner to have it clean.