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| # syntax = docker/dockerfile:1.3 | ||
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| # ghcr.io/ros-planning/moveit2:main-${ROS_DISTRO}-tutorial-source | ||
| # Source build of the repos file from the tutorail site | ||
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| ARG ROS_DISTRO=rolling | ||
| FROM moveit/moveit2:${ROS_DISTRO}-ci | ||
| LABEL maintainer Tyler Weaver [email protected] | ||
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| # Export ROS_UNDERLAY for downstream docker containers | ||
| ENV ROS_UNDERLAY /root/ws_moveit/install | ||
| WORKDIR $ROS_UNDERLAY/.. | ||
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| # Copy MoveIt sources from docker context | ||
| COPY . src/moveit2 | ||
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| # Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size | ||
| # https://docs.docker.com/develop/develop-images/dockerfile_best-practices/#minimize-the-number-of-layers | ||
| RUN --mount=type=cache,target=/root/.ccache/,sharing=locked \ | ||
| # Enable ccache | ||
| PATH=/usr/lib/ccache:$PATH && \ | ||
| # Checkout the tutorial repo | ||
| git clone https://github.com/ros-planning/moveit2_tutorials src/moveit2_tutorials && \ | ||
| # Fetch required upstream sources for building | ||
| vcs import --skip-existing src < src/moveit2_tutorials/moveit2_tutorials.repos && \ | ||
| # Source ROS install | ||
| . "/opt/ros/${ROS_DISTRO}/setup.sh" &&\ | ||
| # Install dependencies from rosdep | ||
| apt-get -q update && \ | ||
| rosdep update && \ | ||
| DEBIAN_FRONTEND=noninteractive \ | ||
| rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false && \ | ||
| rm -rf /var/lib/apt/lists/* && \ | ||
| # Build the workspace | ||
| colcon build \ | ||
| --cmake-args "-DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --no-warn-unused-cli" \ | ||
| --ament-cmake-args -DCMAKE_BUILD_TYPE=Release \ | ||
| --event-handlers desktop_notification- status- && \ | ||
| ccache -s && \ | ||
| # | ||
| # Update /ros_entrypoint.sh to source our new workspace | ||
| sed -i "s#/opt/ros/\$ROS_DISTRO/setup.bash#$ROS_UNDERLAY/setup.sh#g" /ros_entrypoint.sh |
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@@ -21,7 +21,7 @@ jobs: | |
| name: Lint Dockerfiles | ||
| runs-on: ubuntu-latest | ||
| steps: | ||
| - uses: actions/checkout@v3 | ||
| - uses: actions/checkout@v4 | ||
| - uses: hadolint/[email protected] | ||
| with: | ||
| dockerfile: .docker/${{ matrix.DOCKERFILE_PATH }}/Dockerfile | ||
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| name: "Tutorial Docker Images" | ||
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| on: | ||
| schedule: | ||
| # 5 PM UTC every Sunday | ||
| - cron: '0 17 * * 6' | ||
| workflow_dispatch: | ||
| pull_request: | ||
| push: | ||
| branches: | ||
| - main | ||
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| jobs: | ||
| tutorial-source: | ||
| strategy: | ||
| fail-fast: false | ||
| matrix: | ||
| ROS_DISTRO: [rolling, humble, iron] | ||
| runs-on: ubuntu-latest | ||
| permissions: | ||
| packages: write | ||
| contents: read | ||
| env: | ||
| GH_IMAGE: ghcr.io/ros-planning/moveit2:main-${{ matrix.ROS_DISTRO }}-${{ github.job }} | ||
| DH_IMAGE: moveit/moveit2:main-${{ matrix.ROS_DISTRO }}-${{ github.job }} | ||
| PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'ros-planning/moveit2') }} | ||
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| steps: | ||
| - uses: actions/checkout@v4 | ||
| - name: Set up Docker Buildx | ||
| uses: docker/setup-buildx-action@v3 | ||
| - name: Login to Github Container Registry | ||
| if: env.PUSH == 'true' | ||
| uses: docker/login-action@v3 | ||
| with: | ||
| registry: ghcr.io | ||
| username: ${{ github.repository_owner }} | ||
| password: ${{ secrets.GITHUB_TOKEN }} | ||
| - name: Login to DockerHub | ||
| if: env.PUSH == 'true' | ||
| uses: docker/login-action@v3 | ||
| with: | ||
| username: ${{ secrets.DOCKERHUB_USERNAME }} | ||
| password: ${{ secrets.DOCKERHUB_TOKEN }} | ||
| - name: "Remove .dockerignore" | ||
| run: rm .dockerignore # enforce full source context | ||
| - name: Cache ccache | ||
| uses: actions/cache@v3 | ||
| with: | ||
| path: .ccache | ||
| key: docker-tutorial-ccache-${{ matrix.ROS_DISTRO }}-${{ hashFiles( '.docker/tutorial-source/Dockerfile' ) }} | ||
| - name: inject ccache into docker | ||
| uses: reproducible-containers/[email protected] | ||
| with: | ||
| cache-source: .ccache | ||
| cache-target: /root/.ccache/ | ||
| - name: Build and Push | ||
| uses: docker/build-push-action@v5 | ||
| with: | ||
| context: . | ||
| file: .docker/${{ github.job }}/Dockerfile | ||
| build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }} | ||
| push: ${{ env.PUSH }} | ||
| cache-from: type=gha | ||
| cache-to: type=gha,mode=max | ||
| tags: | | ||
| ${{ env.GH_IMAGE }} | ||
| ${{ env.DH_IMAGE }} | ||
| delete_untagged: | ||
| runs-on: ubuntu-latest | ||
| needs: | ||
| - tutorial-source | ||
| steps: | ||
| - name: Delete Untagged Images | ||
| if: (github.event_name != 'pull_request') && (github.repository == 'ros-planning/moveit2') | ||
| uses: actions/github-script@v6 | ||
| with: | ||
| github-token: ${{ secrets.DELETE_PACKAGES_TOKEN }} | ||
| script: | | ||
| const response = await github.request("GET /orgs/${{ env.OWNER }}/packages/container/${{ env.PACKAGE_NAME }}/versions", { | ||
| per_page: ${{ env.PER_PAGE }} | ||
| }); | ||
| for(version of response.data) { | ||
| if (version.metadata.container.tags.length == 0) { | ||
| console.log("delete " + version.id) | ||
| const deleteResponse = await github.request("DELETE /orgs/${{ env.OWNER }}/packages/container/${{ env.PACKAGE_NAME }}/versions/" + version.id, { }); | ||
| console.log("status " + deleteResponse.status) | ||
| } | ||
| } | ||
| env: | ||
| OWNER: ros-planning | ||
| PACKAGE_NAME: moveit2 | ||
| PER_PAGE: 100 |
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