Use Codespaces prebuilds (#3470)

* Add commands to devcontainer

* Set builtin bash to be safe
https://gist.github.com/mohanpedala/1e2ff5661761d3abd0385e8223e16425
https://vaneyckt.io/posts/safer_bash_scripts_with_set_euxo_pipefail/

* Setup workspace on create

* Revert use of set -u for bash
don't raise error due to variables
otherwise colcon setup.sh chokes from using an unbounded path variable

* Add safe.directory for git config
otherwise colcon cache errors out because of issues with git
due to complex user mapping magic that vscode does with devcontainers

https://stackoverflow.com/questions/72978485/git-submodule-update-failed-with-fatal-detected-dubious-ownership-in-repositor

also used by Moveit2:
moveit/moveit2#1994

https://github.blog/2022-04-12-git-security-vulnerability-announced/

* Set env using remoteEnv
instead of inlining them in scripts

* Revert to using the main tag
now that the tester stage has been replicated
with the new devcontainer script commands instead

* formating

* Scrap `-dev` image tag
and use codspaces prebuilds instead

* Build incrementally from update content command
by copying the build workspace steps from circleci config

* Adapt the build workspace steps for bash

.devcontainer/devcontainer.json

@@ -1,12 +1,18 @@
 {
     "name": "Nav2",
-    "image": "ghcr.io/ros-planning/navigation2:main-dev",
+    "image": "ghcr.io/ros-planning/navigation2:main",
     "runArgs": [
         "--privileged",
         "--network=host"
     ],
     "workspaceMount": "source=${localWorkspaceFolder},target=/opt/overlay_ws/src/navigation2,type=bind",
     "workspaceFolder": "/opt/overlay_ws/src",
+    "onCreateCommand": "navigation2/.devcontainer/on-create-command.sh",
+    "updateContentCommand": "navigation2/.devcontainer/update-content-command.sh",
+    "remoteEnv": {
+        "OVERLAY_MIXINS": "release ccache lld",
+        "CCACHE_DIR": "${containerEnv:OVERLAY_WS}/.ccache"
+    },
     "features": {
         // "ghcr.io/devcontainers/features/desktop-lite:1": {},
         "ghcr.io/devcontainers/features/github-cli:1": {}

.devcontainer/on-create-command.sh

@@ -0,0 +1,19 @@
+#!/bin/bash
+
+set -exo pipefail
+
+env
+
+cd $OVERLAY_WS
+. $UNDERLAY_WS/install/setup.sh
+
+git config --global --add safe.directory "*"
+colcon cache lock
+
+colcon build \
+    --symlink-install \
+    --mixin $OVERLAY_MIXINS
+
+sed --in-place \
+    's|^source .*|source "$OVERLAY_WS/install/setup.bash"|' \
+    /ros_entrypoint.sh

.devcontainer/update-content-command.sh

@@ -0,0 +1,57 @@
+#!/bin/bash
+
+set -exo pipefail
+
+env
+
+cd $OVERLAY_WS
+
+colcon cache lock
+
+BUILD_UNFINISHED=$(
+    colcon list \
+    --names-only \
+    --packages-skip-build-finished \
+    | xargs)
+echo BUILD_UNFINISHED: $BUILD_UNFINISHED
+
+BUILD_FAILED=$(
+    colcon list \
+    --names-only \
+    --packages-select-build-failed \
+    | xargs)
+echo BUILD_FAILED: $BUILD_FAILED
+
+BUILD_INVALID=$(
+    colcon list \
+    --names-only \
+    --packages-select-cache-invalid \
+    --packages-select-cache-key build \
+    | xargs)
+echo BUILD_INVALID: $BUILD_INVALID
+
+BUILD_PACKAGES=""
+if [ -n "$BUILD_UNFINISHED" ] || \
+    [ -n "$BUILD_FAILED" ] || \
+    [ -n "$BUILD_INVALID" ]
+then
+    BUILD_PACKAGES=$(
+    colcon list \
+        --names-only \
+        --packages-above \
+        $BUILD_UNFINISHED \
+        $BUILD_FAILED \
+        $BUILD_INVALID \
+    | xargs)
+fi
+echo BUILD_PACKAGES: $BUILD_PACKAGES
+
+colcon clean packages --yes \
+    --packages-select ${BUILD_PACKAGES} \
+    --base-select install
+
+. $UNDERLAY_WS/install/setup.sh
+colcon build \
+    --symlink-install \
+    --mixin $OVERLAY_MIXINS \
+    --packages-select ${BUILD_PACKAGES}

.github/workflows/update_ci_image.yaml

@@ -109,23 +109,3 @@ jobs:
       - name: Image digest
         if: steps.config.outputs.trigger == 'true'
         run: echo ${{ steps.docker_build.outputs.digest }}
-      - name: Build and push ${{ github.ref_name }}-dev
-        if: steps.config.outputs.trigger == 'true'
-        id: docker_build_dev
-        uses: docker/build-push-action@v4
-        with:
-          pull: true
-          push: true
-          cache-from: |
-            type=registry,ref=ghcr.io/ros-planning/navigation2:${{ github.ref_name }}
-            type=registry,ref=ghcr.io/ros-planning/navigation2:${{ github.ref_name }}-dev
-          cache-to: type=inline
-          build-args: |
-            RUN_TESTS=True
-          target: tester
-          tags: |
-            ghcr.io/ros-planning/navigation2:${{ github.ref_name }}-dev
-            ghcr.io/ros-planning/navigation2:${{ github.ref_name }}-dev-${{ steps.config.outputs.timestamp }}
-      - name: Image digest
-        if: steps.config.outputs.trigger == 'true'
-        run: echo ${{ steps.docker_build.outputs.digest }}