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