EricX-Zhao
bc5de267f7
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.
130 lines
5.0 KiB
YAML
130 lines
5.0 KiB
YAML
name: Build Cross-Compiled ROS 2 Images
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on:
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push:
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branches: [main]
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paths-ignore:
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- "**.md"
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- ".github/ISSUE_TEMPLATE/**"
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- ".github/pull_request_template.md"
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pull_request:
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branches: [main]
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paths-ignore:
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- "**.md"
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- ".github/ISSUE_TEMPLATE/**"
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- ".github/pull_request_template.md"
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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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IMAGE_NAMESPACE: ${{ github.repository }}
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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: [rk3588]
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ros_distro: [rolling]
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fail-fast: false
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steps:
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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: github.event_name == 'push' || (github.event_name == 'workflow_dispatch' && 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: ${{ secrets.GITHUB_TOKEN }}
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# ── Stage 1: Build base image ──────────────────────────────────────
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- name: Build cc-base
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run: |
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docker compose build cc-base
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- name: Push cc-base
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if: github.event_name == 'push' || (github.event_name == 'workflow_dispatch' && inputs.push_images)
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run: |
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docker tag cc-base:latest \
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${{ 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 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: github.event_name == 'push' || (github.event_name == 'workflow_dispatch' && 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 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: github.event_name == 'push' || (github.event_name == 'workflow_dispatch' && 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 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: github.event_name == 'push' || (github.event_name == 'workflow_dispatch' && 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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