Add GitHub Actions workflow for building cross-compiled ROS 2 images

Create a CI pipeline that builds and optionally pushes Docker images
for cross-compilation targets (rk3588) and ROS 2 distributions, with
multi-stage builds for base, toolchain, vendor packages, and ROS 2.

Also ignore diagnostic_remote_logging package in the Lyrical ROS 2
build.

cross_compile/.github/workflows/build-images.yaml

@@ -0,0 +1,129 @@
+name: Build Cross-Compiled ROS 2 Images
+
+on:
+  push:
+    branches: [main]
+    paths-ignore:
+      - "**.md"
+      - ".github/ISSUE_TEMPLATE/**"
+      - ".github/pull_request_template.md"
+  pull_request:
+    branches: [main]
+    paths-ignore:
+      - "**.md"
+      - ".github/ISSUE_TEMPLATE/**"
+      - ".github/pull_request_template.md"
+  workflow_dispatch:
+    inputs:
+      platform:
+        description: "Target platform"
+        required: true
+        type: choice
+        options: [rk3588]
+        default: rk3588
+      ros_distro:
+        description: "ROS 2 distribution"
+        required: true
+        type: choice
+        options: [rolling, jazzy, lyrical]
+        default: lyrical
+      push_images:
+        description: "Push built images to registry"
+        required: false
+        type: boolean
+        default: false
+
+env:
+  REGISTRY: ghcr.io
+  IMAGE_NAMESPACE: ${{ github.repository }}
+
+jobs:
+  build:
+    runs-on: ubuntu-22.04
+    strategy:
+      matrix:
+        platform: [rk3588]
+        ros_distro: [rolling]
+      fail-fast: false
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+        with:
+          driver-opts: |
+            network=host
+
+      - name: Log in to GitHub Container Registry
+        if: github.event_name == 'push' || (github.event_name == 'workflow_dispatch' && inputs.push_images)
+        uses: docker/login-action@v3
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      # ── Stage 1: Build base image ──────────────────────────────────────
+      - name: Build cc-base
+        run: |
+          docker compose build cc-base
+
+      - name: Push cc-base
+        if: github.event_name == 'push' || (github.event_name == 'workflow_dispatch' && inputs.push_images)
+        run: |
+          docker tag cc-base:latest \
+            ${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/cc-base:latest
+          docker push ${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/cc-base:latest
+
+      # ── Stage 2: Build toolchain image per platform ────────────────────
+      - name: Build cc-toolchain (${{ matrix.platform }})
+        run: |
+          PLATFORM=${{ matrix.platform }} docker compose build cc-toolchain
+        env:
+          BUILDKIT_INLINE_CACHE: "1"
+
+      - name: Push cc-toolchain
+        if: github.event_name == 'push' || (github.event_name == 'workflow_dispatch' && inputs.push_images)
+        run: |
+          docker tag ${{ matrix.platform }}/cc-toolchain:latest \
+            ${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/${{ matrix.platform }}/cc-toolchain:latest
+          docker push ${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/${{ matrix.platform }}/cc-toolchain:latest
+
+      # ── Stage 3: Build vendor packages ─────────────────────────────────
+      - name: Build vendor-packages (${{ matrix.platform }})
+        run: |
+          PLATFORM=${{ matrix.platform }} docker compose build vendor-packages
+        env:
+          BUILDKIT_INLINE_CACHE: "1"
+
+      - name: Push vendor-packages
+        if: github.event_name == 'push' || (github.event_name == 'workflow_dispatch' && inputs.push_images)
+        run: |
+          docker tag ${{ matrix.platform }}/cc-vendor-packages:latest \
+            ${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/${{ matrix.platform }}/cc-vendor-packages:latest
+          docker push ${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/${{ matrix.platform }}/cc-vendor-packages:latest
+
+      # ── Stage 4: Build ROS 2 per distro ────────────────────────────────
+      - name: Build ROS 2 (${{ matrix.ros_distro }})
+        run: |
+          PLATFORM=${{ matrix.platform }} ROS_DISTRO=${{ matrix.ros_distro }} docker compose build ros2
+        env:
+          BUILDKIT_INLINE_CACHE: "1"
+
+      - name: Push ROS 2 image
+        if: github.event_name == 'push' || (github.event_name == 'workflow_dispatch' && inputs.push_images)
+        run: |
+          docker tag ${{ matrix.platform }}/cc-ros-${{ matrix.ros_distro }}:latest \
+            ${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/${{ matrix.platform }}/cc-ros-${{ matrix.ros_distro }}:latest
+          docker push ${{ env.REGISTRY }}/${{ env.IMAGE_NAMESPACE }}/${{ matrix.platform }}/cc-ros-${{ matrix.ros_distro }}:latest
+
+      # ── Summary ───────────────────────────────────────────────────────
+      - name: Image summary
+        if: always()
+        run: |
+          echo "### Built Images :rocket:" >> $GITHUB_STEP_SUMMARY
+          docker images \
+            --filter "reference=cc-*" \
+            --format "| \`{{.Repository}}:{{.Tag}}\` | {{.Size}} |" \
+            >> $GITHUB_STEP_SUMMARY

cross_compile/ros2/lyrical/ros_lyrical.Dockerfile

@@ -26,7 +26,8 @@ RUN patch -p1 -d /workspace/src/ros2/rclcpp < /workspace/patch/memory_strategy.p
 
 RUN touch src/ros2/geometry2/tf2_bullet/COLCON_IGNORE \
     && touch src/ros2/rosbag2/rosbag2_storage_sqlite3/COLCON_IGNORE \
-    && touch src/ros-perception/image_transport_plugins/theora_image_transport/COLCON_IGNORE
+    && touch src/ros-perception/image_transport_plugins/theora_image_transport/COLCON_IGNORE \
+    && touch src/diagnostics/diagnostic_remote_logging/COLCON_IGNORE
 
 RUN MAKEFLAGS="-j6" colcon build \
     --executor parallel \