winston/refactor_foxy merge into stable
#8
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| name: Robocar Docker + ROS2 Build and Test Workflow | |
| on: | |
| workflow_dispatch: | |
| pull_request: | |
| branches: | |
| - stable | |
| push: | |
| branches: | |
| - stable | |
| jobs: | |
| build-push: | |
| runs-on: ubuntu-latest | |
| permissions: | |
| contents: read | |
| packages: write | |
| # This is used to complete the identity challenge | |
| # with sigstore/fulcio when running outside of PRs. | |
| id-token: write | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - SAVE_NAME: robocar_foxy_cpu | |
| BASE_IMAGE: ubuntu:20.04 | |
| ROS_DISTRO: foxy | |
| ROS_SOURCE: foxy | |
| ROS_INSTALL: ros-install.sh | |
| SKIP_KEYS: skip-keys | |
| APT_FILE: apt-packages | |
| APT_GPU_FILE: empty-deps | |
| PIP_FILE: pip3-packages | |
| PIP_GPU_FILE: empty-deps | |
| PYTORCH_FILE: pytorch-cpu | |
| EXPORTS_SCRIPT: exports.sh | |
| EXPORTS_GPU_SCRIPT: empty-script.sh | |
| VCS_IMPORTS_SCRIPT: vcs-imports-foxy.sh | |
| CUSTOM_INSTALL_FILE: custom-installs.sh | |
| CYCLONEDDS_SCRIPT: cyclonedds-foxy.xml | |
| outputs: | |
| image_name: ${{ steps.save_image_name.outputs.image_name }} | |
| cache_name: ${{ steps.save_image_name.outputs.cache_name }} | |
| tag_name: ${{ steps.save_image_name.outputs.tag_name }} | |
| steps: | |
| - name: Check out the repo | |
| uses: actions/checkout@v4 | |
| - name: Setup SSH | |
| uses: webfactory/ssh-agent@v0.9.0 | |
| with: | |
| ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }} | |
| - name: Login to GitHub Container Registry | |
| uses: docker/login-action@v3 | |
| with: | |
| registry: ghcr.io | |
| username: ${{ github.actor }} | |
| password: ${{ secrets.GITHUB_TOKEN }} | |
| - name: Set up Docker Buildx | |
| id: buildx | |
| uses: docker/setup-buildx-action@v3 | |
| with: | |
| install: true | |
| - name: Get the Ref | |
| id: get-ref | |
| uses: sisaha9/ref-to-tag-action@v2 | |
| with: | |
| ref: ${{ github.ref }} | |
| head_ref: ${{ github.head_ref }} | |
| - name: Free Disk Space (Ubuntu) | |
| uses: jlumbroso/free-disk-space@v1.3.1 | |
| with: | |
| tool-cache: true | |
| - name: Cache Docker layers | |
| uses: actions/cache@v4 | |
| with: | |
| path: /tmp/.buildx-cache-${{ matrix.SAVE_NAME }} | |
| key: ${{ runner.os }}-buildx-dev-${{ matrix.SAVE_NAME }}-${{ github.sha }} | |
| restore-keys: | | |
| ${{ runner.os }}-buildx-dev-${{ matrix.SAVE_NAME }} | |
| ${{ runner.os }}-buildx-dev | |
| - name: Build and Push Docker image | |
| id: docker_build_push | |
| uses: docker/build-push-action@v6 | |
| with: | |
| platforms: linux/amd64 | |
| context: . | |
| file: tools/image/Dockerfile | |
| pull: true | |
| push: true | |
| tags: | | |
| ghcr.io/triton-ai/${{ matrix.SAVE_NAME }}:${{ steps.get-ref.outputs.tag }} | |
| ssh: | | |
| default=${{ env.SSH_AUTH_SOCK }} | |
| cache-from: type=local,src=/tmp/.buildx-cache-${{ matrix.SAVE_NAME }} | |
| cache-to: type=local,dest=/tmp/.buildx-cache-new-${{ matrix.SAVE_NAME }},mode=max | |
| build-args: | | |
| BASE_IMAGE=${{ matrix.BASE_IMAGE }} | |
| ROS_DISTRO=${{ matrix.ROS_DISTRO }} | |
| ROS_SOURCE=${{ matrix.ROS_SOURCE }} | |
| ROS_INSTALL=${{ matrix.ROS_INSTALL }} | |
| SKIP_KEYS=${{ matrix.SKIP_KEYS }} | |
| APT_FILE=${{ matrix.APT_FILE }} | |
| APT_GPU_FILE=${{ matrix.APT_GPU_FILE }} | |
| PIP_FILE=${{ matrix.PIP_FILE }} | |
| PIP_GPU_FILE=${{ matrix.PIP_GPU_FILE }} | |
| PYTORCH_FILE=${{ matrix.PYTORCH_FILE }} | |
| EXPORTS_SCRIPT=${{ matrix.EXPORTS_SCRIPT }} | |
| EXPORTS_GPU_SCRIPT=${{ matrix.EXPORTS_GPU_SCRIPT }} | |
| VCS_IMPORTS_SCRIPT=${{ matrix.VCS_IMPORTS_SCRIPT }} | |
| CUSTOM_INSTALL_FILE=${{ matrix.CUSTOM_INSTALL_FILE }} | |
| CYCLONEDDS_SCRIPT=${{ matrix.CYCLONEDDS_SCRIPT }} | |
| target: robocar_image | |
| - name: Delete old cache | |
| run: | | |
| rm -rf /tmp/.buildx-cache-${{ matrix.SAVE_NAME }} | |
| mv /tmp/.buildx-cache-new-${{ matrix.SAVE_NAME }} /tmp/.buildx-cache-${{ matrix.SAVE_NAME }} | |
| - name: Save image name to Github Output | |
| id: save_image_name | |
| run: | | |
| echo "image_name=ghcr.io/triton-ai/${{ matrix.SAVE_NAME }}:${{ steps.get-ref.outputs.tag }}" >> $GITHUB_OUTPUT | |
| echo "cache_name=${{ matrix.SAVE_NAME }}" >> $GITHUB_OUTPUT | |
| echo "tag_name=${{ steps.get-ref.outputs.tag }}" >> $GITHUB_OUTPUT | |
| build-test: | |
| runs-on: ubuntu-latest | |
| needs: build-push | |
| permissions: | |
| contents: read | |
| packages: write | |
| # This is used to complete the identity challenge | |
| # with sigstore/fulcio when running outside of PRs. | |
| id-token: write | |
| container: | |
| image: ${{ needs.build-push.outputs.image_name }} | |
| credentials: | |
| username: ${{ github.actor }} | |
| password: ${{ secrets.GITHUB_TOKEN }} | |
| steps: | |
| - name: Check out the repo | |
| uses: actions/checkout@v4 | |
| - name: Setup SSH | |
| uses: webfactory/ssh-agent@v0.9.0 | |
| with: | |
| ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }} | |
| - name: Import External Repos | |
| run: | | |
| bash -c 'make vcs-import VCS_FILE=robocar.${ROS_DISTRO}.repos; \ | |
| make vcs-import VCS_FILE=drivers.${ROS_DISTRO}.repos' | |
| - name: Ccache | |
| uses: hendrikmuhs/ccache-action@v1.2 | |
| with: | |
| key: ${{ needs.build-push.outputs.cache_name }}-ccache | |
| max-size: "500M" | |
| - name: Restore build artifacts | |
| uses: actions/cache/restore@v4 | |
| with: | |
| path: | | |
| install | |
| build | |
| key: ${{ needs.build-push.outputs.cache_name }}-ros2-artifacts--${{ github.sha }} | |
| restore-keys: | | |
| ${{ needs.build-push.outputs.cache_name }}-ros2-artifacts | |
| - name: Build Workspace | |
| run: | | |
| bash -ic 'make build-ci' | |
| - name: Save build artifacts | |
| uses: actions/cache/save@v4 | |
| with: | |
| path: | | |
| install | |
| build | |
| key: ${{ needs.build-push.outputs.cache_name }}-ros2-artifacts--${{ github.sha }} | |
| - name: Run Tests | |
| run: | | |
| bash -ic 'make test-ci' | |
| - name: Clean tests | |
| run: | | |
| bash -ic 'make clean-test' | |
| # build-push-jetpack: | |
| # runs-on: ubuntu-latest | |
| # permissions: | |
| # contents: read | |
| # packages: write | |
| # # This is used to complete the identity challenge | |
| # # with sigstore/fulcio when running outside of PRs. | |
| # id-token: write | |
| # strategy: | |
| # fail-fast: false | |
| # matrix: | |
| # include: | |
| # - SAVE_NAME: robocar_foxy_gpu_jetpack5 | |
| # BASE_IMAGE: nvcr.io/nvidia/l4t-jetpack:r35.4.1 | |
| # ROS_DISTRO: foxy | |
| # ROS_SOURCE: foxy | |
| # ROS_INSTALL: ros-install.sh | |
| # SKIP_KEYS: skip-keys | |
| # APT_FILE: apt-packages-jetson | |
| # APT_GPU_FILE: empty-deps | |
| # PIP_FILE: pip3-packages-jetson | |
| # PIP_GPU_FILE: empty-deps | |
| # PYTORCH_FILE: pytorch-gpu-jetson | |
| # EXPORTS_SCRIPT: exports-jetson.sh | |
| # EXPORTS_GPU_SCRIPT: empty-script.sh | |
| # VCS_IMPORTS_SCRIPT: vcs-imports-foxy-jetson.sh | |
| # CUSTOM_INSTALL_FILE: custom-installs-jetson.sh | |
| # CYCLONEDDS_SCRIPT: cyclonedds-foxy.xml | |
| # outputs: | |
| # image_name: ${{ steps.save_image_name.outputs.image_name }} | |
| # cache_name: ${{ steps.save_image_name.outputs.cache_name }} | |
| # tag_name: ${{ steps.save_image_name.outputs.tag_name }} | |
| # steps: | |
| # - name: Check out the repo | |
| # uses: actions/checkout@v4 | |
| # - name: Set up QEMU | |
| # uses: docker/setup-qemu-action@v3 | |
| # with: | |
| # platforms: linux/arm64/v8 | |
| # - name: Setup SSH | |
| # uses: webfactory/ssh-agent@v0.9.0 | |
| # with: | |
| # ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }} | |
| # - name: Login to GitHub Container Registry | |
| # uses: docker/login-action@v3 | |
| # with: | |
| # registry: ghcr.io | |
| # username: ${{ github.actor }} | |
| # password: ${{ secrets.GITHUB_TOKEN }} | |
| # - name: Set up Docker Buildx | |
| # id: buildx | |
| # uses: docker/setup-buildx-action@v3 | |
| # with: | |
| # install: true | |
| # - name: Get the Ref | |
| # id: get-ref | |
| # uses: sisaha9/ref-to-tag-action@v2 | |
| # with: | |
| # ref: ${{ github.ref }} | |
| # head_ref: ${{ github.head_ref }} | |
| # - name: Free Disk Space (Ubuntu) | |
| # uses: jlumbroso/free-disk-space@v1.3.1 | |
| # with: | |
| # tool-cache: true | |
| # - name: Cache Docker layers | |
| # uses: actions/cache@v4 | |
| # with: | |
| # path: /tmp/.buildx-cache-${{ matrix.SAVE_NAME }} | |
| # key: ${{ runner.os }}-buildx-dev-${{ matrix.SAVE_NAME }}-${{ github.sha }} | |
| # restore-keys: | | |
| # ${{ runner.os }}-buildx-dev-${{ matrix.SAVE_NAME }} | |
| # ${{ runner.os }}-buildx-dev | |
| # - name: Build and Push Docker image | |
| # id: docker_build_push | |
| # uses: docker/build-push-action@v6 | |
| # with: | |
| # platforms: linux/arm64/v8 | |
| # context: . | |
| # file: tools/image/Dockerfile | |
| # pull: true | |
| # push: true | |
| # tags: | | |
| # ghcr.io/triton-ai/${{ matrix.SAVE_NAME }}:${{ steps.get-ref.outputs.tag }} | |
| # ssh: | | |
| # default=${{ env.SSH_AUTH_SOCK }} | |
| # cache-from: type=local,src=/tmp/.buildx-cache-${{ matrix.SAVE_NAME }} | |
| # cache-to: type=local,dest=/tmp/.buildx-cache-new-${{ matrix.SAVE_NAME }},mode=max | |
| # build-args: | | |
| # BASE_IMAGE=${{ matrix.BASE_IMAGE }} | |
| # ROS_DISTRO=${{ matrix.ROS_DISTRO }} | |
| # ROS_SOURCE=${{ matrix.ROS_SOURCE }} | |
| # ROS_INSTALL=${{ matrix.ROS_INSTALL }} | |
| # SKIP_KEYS=${{ matrix.SKIP_KEYS }} | |
| # APT_FILE=${{ matrix.APT_FILE }} | |
| # APT_GPU_FILE=${{ matrix.APT_GPU_FILE }} | |
| # PIP_FILE=${{ matrix.PIP_FILE }} | |
| # PIP_GPU_FILE=${{ matrix.PIP_GPU_FILE }} | |
| # PYTORCH_FILE=${{ matrix.PYTORCH_FILE }} | |
| # EXPORTS_SCRIPT=${{ matrix.EXPORTS_SCRIPT }} | |
| # EXPORTS_GPU_SCRIPT=${{ matrix.EXPORTS_GPU_SCRIPT }} | |
| # VCS_IMPORTS_SCRIPT=${{ matrix.VCS_IMPORTS_SCRIPT }} | |
| # CUSTOM_INSTALL_FILE=${{ matrix.CUSTOM_INSTALL_FILE }} | |
| # CYCLONEDDS_SCRIPT=${{ matrix.CYCLONEDDS_SCRIPT }} | |
| # target: robocar_image | |
| # - name: Delete old cache | |
| # run: | | |
| # rm -rf /tmp/.buildx-cache-${{ matrix.SAVE_NAME }} | |
| # mv /tmp/.buildx-cache-new-${{ matrix.SAVE_NAME }} /tmp/.buildx-cache-${{ matrix.SAVE_NAME }} | |
| # - name: Save image name to Github Output | |
| # id: save_image_name | |
| # run: | | |
| # echo "image_name=ghcr.io/triton-ai/${{ matrix.SAVE_NAME }}:${{ steps.get-ref.outputs.tag }}" >> $GITHUB_OUTPUT | |
| # echo "cache_name=${{ matrix.SAVE_NAME }}" >> $GITHUB_OUTPUT | |
| # echo "tag_name=${{ steps.get-ref.outputs.tag }}" >> $GITHUB_OUTPUT |