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action.yml
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action.yml
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name: "docker-ros"
description: "docker-ros automatically builds development and deployment Docker images for your ROS-based repositories."
branding:
color: blue
icon: package
inputs:
additional-debs-file:
description: "Relative filepath to file containing additional apt deb packages to install"
default: docker/additional-debs.txt
additional-files-dir:
description: "Relative path to directory containing additional files to copy into image"
default: docker/additional-files
additional-pip-file:
description: "Relative filepath to file containing additional pip packages to install"
default: docker/additional-pip-requirements.txt
base-image:
description: "Base image name:tag"
required: true
blacklisted-packages-file:
description: "Relative filepath to file containing blacklisted packages to remove from workspace"
default: docker/blacklisted-packages.txt
build-context:
description: "Build context of Docker build process"
default: ${{ github.workspace }}
command:
description: "Launch command of run image (required if target=run)"
custom-script-file:
description: "Relative filepath to script containing custom installation commands"
default: docker/custom.sh
dev-image-name:
description: "Image name of dev image"
default: ghcr.io/${{ github.repository }}
dev-image-tag:
description: "Image tag of dev image"
disable-ros-installation:
description: "Disable automatic installation of `ros-$ROS_DISTRO-ros-core` package, e.g., if ROS is already installed in `base-image` and package is not available for the OS"
default: false
enable-checkout:
description: "Enable checkout action to (re-)download your repository prior to running the pipeline"
default: true
enable-checkout-lfs:
description: "Enable Git LFS support for the checkout action"
default: true
enable-checkout-submodules:
description: "Enable submodules for the checkout action (false|true|recursive)"
default: recursive
enable-industrial-ci:
description: "Enable industrial_ci"
default: false
enable-push-as-latest:
description: "Push images with tag `latest`/`latest-dev` in addition to the configured image names"
default: false
enable-recursive-additional-debs:
description: "Enable recursive discovery of files named `additional-debs-file`"
default: false
enable-recursive-additional-pip:
description: "Enable recursive discovery of files named `additional-pip-file`"
default: false
enable-recursive-blacklisted-packages:
description: "Enable recursive discovery of files named `blacklisted-packages-file`"
default: false
enable-recursive-custom-script:
description: "Enable recursive discovery of files named `custom-script-file`"
default: false
enable-singlearch-push:
description: "Enable push of single arch images with [-amd64|-arm64] postfix"
default: false
enable-slim:
description: "Enable an extra slimmed run image via slim (only if run stage is targeted)"
default: true
git-https-password:
description: "Password for cloning private Git repositories via HTTPS"
default: ${{ github.token }}
git-https-server:
description: "Server URL (without protocol) for cloning private Git repositories via HTTPS"
default: "github.com"
git-https-user:
description: "Username for cloning private Git repositories via HTTPS"
default: ${{ github.actor }}
git-ssh-known-host-keys:
description: "Known SSH host keys for cloning private Git repositories via SSH (may be obtained using `ssh-keyscan`)"
git-ssh-private-key:
description: "SSH private key for cloning private Git repositories via SSH"
image-name:
description: "Image name of run image"
default: ghcr.io/${{ github.repository }}
image-tag:
description: "Image tag of run image"
default: latest
platform:
description: "Target platform architecture (comma-separated list) [amd64|arm64|...]"
registry:
description: "Docker registry to push images to"
default: ghcr.io
registry-password:
description: "Docker registry password"
default: ${{ github.token }}
registry-user:
description: "Docker registry username"
default: ${{ github.actor }}
ros-distro:
description: "ROS Distro (required if ROS is not installed in `base-image`)"
rmw-implementation:
description: "RMW implementation to use (only for ROS 2)"
default: rmw_cyclonedds_cpp
rmw-zenoh-git-ref:
description: "Git ref of rmw_zenoh repo to build if `RMW_IMPLEMENTATION=rmw_zenoh_cpp`"
default: a7187eb42fd6a6a6bdfacf4308add39e5d8a27c7
slim-build-args:
description: "Arguments to `slim build` (except for `--target` and `--tag`)"
default: '--sensor-ipc-mode proxy --continue-after=10 --show-clogs --http-probe=false'
slim-image-name:
description: "Image name of slim run image"
default: ghcr.io/${{ github.repository }}
slim-image-tag:
description: "Image tag of slim run image"
target:
description: "Target stage of Dockerfile (comma-separated list) [dev|run]"
default: run
runs:
using: "composite"
steps:
- name: Checkout repository
uses: actions/checkout@v3
if: ${{ inputs.enable-checkout == 'true' }}
with:
submodules: ${{ inputs.enable-checkout-submodules }}
lfs: ${{ inputs.enable-checkout-lfs }}
- name: Set up docker-ros
shell: bash
working-directory: ${{ inputs.build-context }}
run: |
if ! [[ -d "docker/docker-ros" ]]; then
mkdir -p docker
cp -r ${GITHUB_ACTION_PATH} docker/docker-ros
fi
- name: Prepare setup of QEMU
id: prepare-setup-of-qemu
shell: bash
run: echo "RUNNER_ARCH=$(dpkg --print-architecture)" >> $GITHUB_OUTPUT
- name: Set up QEMU
if: ${{ steps.prepare-setup-of-qemu.outputs.RUNNER_ARCH != inputs.platform }}
uses: docker/setup-qemu-action@v2
- name: Login to Docker registry
uses: docker/login-action@v3
with:
registry: ${{ inputs.registry }}
username: ${{ inputs.registry-user }}
password: ${{ inputs.registry-password }}
- name: Set up Docker buildx
uses: docker/setup-buildx-action@v3
- name: Enforce lower-case image name
id: image-name
uses: ASzc/change-string-case-action@v6
with:
string: ${{ inputs.image-name }}
- name: Enforce lower-case dev image name
id: dev-image-name
uses: ASzc/change-string-case-action@v6
with:
string: ${{ inputs.dev-image-name }}
- name: Enforce lower-case slim image name
id: slim-image-name
uses: ASzc/change-string-case-action@v6
with:
string: ${{ inputs.slim-image-name }}
- name: Build images
id: build-images
shell: bash
working-directory: ${{ inputs.build-context }}
run: docker/docker-ros/scripts/ci.sh
env:
ADDITIONAL_DEBS_FILE: ${{ inputs.additional-debs-file }}
ADDITIONAL_FILES_DIR: ${{ inputs.additional-files-dir }}
ADDITIONAL_PIP_FILE: ${{ inputs.additional-pip-file }}
BASE_IMAGE: ${{ inputs.base-image }}
BLACKLISTED_PACKAGES_FILE: ${{ inputs.blacklisted-packages-file }}
COMMAND: ${{ inputs.command }}
CUSTOM_SCRIPT_FILE: ${{ inputs.custom-script-file }}
DEV_IMAGE_NAME: ${{ steps.dev-image-name.outputs.lowercase }}
DEV_IMAGE_TAG: ${{ inputs.dev-image-tag }}
DISABLE_ROS_INSTALLATION: ${{ inputs.disable-ros-installation }}
ENABLE_RECURSIVE_ADDITIONAL_DEBS: ${{ inputs.enable-recursive-additional-debs }}
ENABLE_RECURSIVE_ADDITIONAL_PIP: ${{ inputs.enable-recursive-additional-pip }}
ENABLE_RECURSIVE_BLACKLISTED_PACKAGES: ${{ inputs.enable-recursive-blacklisted-packages }}
ENABLE_RECURSIVE_CUSTOM_SCRIPT: ${{ inputs.enable-recursive-custom-script }}
ENABLE_RECURSIVE_VCS_IMPORT: ${{ inputs.enable-recursive-vcs-import }}
ENABLE_SLIM: ${{ inputs.enable-slim }}
GIT_HTTPS_PASSWORD: ${{ inputs.git-https-password }}
GIT_HTTPS_SERVER: ${{ inputs.git-https-server }}
GIT_HTTPS_USER: ${{ inputs.git-https-user }}
GIT_SSH_KNOWN_HOST_KEYS: ${{ inputs.git-ssh-known-host-keys }}
GIT_SSH_PRIVATE_KEY: ${{ inputs.git-ssh-private-key }}
IMAGE_NAME: ${{ steps.image-name.outputs.lowercase }}
IMAGE_TAG: ${{ inputs.image-tag }}
PLATFORM: ${{ inputs.platform }}
RMW_IMPLEMENTATION: ${{ inputs.rmw-implementation }}
RMW_ZENOH_GIT_REF: ${{ inputs.rmw-zenoh-git-ref }}
ROS_DISTRO: ${{ inputs.ros-distro }}
SLIM_BUILD_ARGS: ${{ inputs.slim-build-args }}
SLIM_IMAGE_NAME: ${{ steps.slim-image-name.outputs.lowercase }}
SLIM_IMAGE_TAG: ${{ inputs.slim-image-tag }}
TARGET: ${{ inputs.target }}
VCS_IMPORT_FILE: ${{ inputs.vcs-import-file }}
- name: Set up industrial_ci
if: ${{ inputs.enable-industrial-ci == 'true' }}
shell: bash
run: test -f ${{ inputs.build-context }}/.repos || echo "repositories:" > ${{ inputs.build-context }}/.repos
- name: Run industrial_ci
if: ${{ inputs.enable-industrial-ci == 'true' }}
uses: ros-industrial/industrial_ci@master
env:
ADDITIONAL_DEBS: git
AFTER_INIT_EMBED: '[[ "$RMW_IMPLEMENTATION" == "rmw_zenoh_cpp" ]] && export UNDERLAY="/opt/ws_rmw_zenoh/install" ; [[ -n ${{ inputs.git-https-server }} ]] && git config --global url.https://${{ inputs.git-https-user }}:${{ inputs.git-https-password }}@${{ inputs.git-https-server }}.insteadOf https://${{ inputs.git-https-server }}'
DOCKER_IMAGE: ${{ steps.build-images.outputs.INDUSTRIAL_CI_IMAGE }}
DOCKER_PULL: false
DOCKER_RUN_OPTS: -u root:root
SSH_PRIVATE_KEY: ${{ inputs.git-ssh-private-key }}
SSH_SERVER_HOSTKEYS: ${{ inputs.git-ssh-known-host-keys }}
TARGET_WORKSPACE: ${{ inputs.build-context }}
UPSTREAM_WORKSPACE: ${{ inputs.build-context }}/.repos
- name: Slugify ref name
id: slugify-ref-name
uses: gacts/github-slug@v1
with:
to-slug: ${{ github.ref_name }}
- name: Push images
shell: bash
working-directory: ${{ inputs.build-context }}
run: docker/docker-ros/scripts/ci.sh
env:
ADDITIONAL_DEBS_FILE: ${{ inputs.additional-debs-file }}
ADDITIONAL_FILES_DIR: ${{ inputs.additional-files-dir }}
ADDITIONAL_PIP_FILE: ${{ inputs.additional-pip-file }}
BASE_IMAGE: ${{ inputs.base-image }}
BLACKLISTED_PACKAGES_FILE: ${{ inputs.blacklisted-packages-file }}
COMMAND: ${{ inputs.command }}
CUSTOM_SCRIPT_FILE: ${{ inputs.custom-script-file }}
DEV_IMAGE_NAME: ${{ steps.dev-image-name.outputs.lowercase }}
DEV_IMAGE_TAG: ${{ inputs.dev-image-tag }}
DISABLE_ROS_INSTALLATION: ${{ inputs.disable-ros-installation }}
ENABLE_RECURSIVE_ADDITIONAL_DEBS: ${{ inputs.enable-recursive-additional-debs }}
ENABLE_RECURSIVE_ADDITIONAL_PIP: ${{ inputs.enable-recursive-additional-pip }}
ENABLE_RECURSIVE_BLACKLISTED_PACKAGES: ${{ inputs.enable-recursive-blacklisted-packages }}
ENABLE_RECURSIVE_CUSTOM_SCRIPT: ${{ inputs.enable-recursive-custom-script }}
ENABLE_RECURSIVE_VCS_IMPORT: ${{ inputs.enable-recursive-vcs-import }}
ENABLE_SINGLEARCH_PUSH: ${{ inputs.enable-singlearch-push }}
ENABLE_SLIM: ${{ inputs.enable-slim }}
GIT_HTTPS_PASSWORD: ${{ inputs.git-https-password }}
GIT_HTTPS_SERVER: ${{ inputs.git-https-server }}
GIT_HTTPS_USER: ${{ inputs.git-https-user }}
GIT_SSH_KNOWN_HOST_KEYS: ${{ inputs.git-ssh-known-host-keys }}
GIT_SSH_PRIVATE_KEY: ${{ inputs.git-ssh-private-key }}
IMAGE_NAME: ${{ steps.image-name.outputs.lowercase }}
IMAGE_TAG: ${{ inputs.image-tag }}
PLATFORM: ${{ inputs.platform }}
RMW_IMPLEMENTATION: ${{ inputs.rmw-implementation }}
RMW_ZENOH_GIT_REF: ${{ inputs.rmw-zenoh-git-ref }}
ROS_DISTRO: ${{ inputs.ros-distro }}
SLIM_BUILD_ARGS: ${{ inputs.slim-build-args }}
SLIM_IMAGE_NAME: ${{ steps.slim-image-name.outputs.lowercase }}
SLIM_IMAGE_TAG: ${{ inputs.slim-image-tag }}
TARGET: ${{ inputs.target }}
VCS_IMPORT_FILE: ${{ inputs.vcs-import-file }}
_ENABLE_IMAGE_PUSH: true
_IMAGE_POSTFIX: ${{ github.ref != format('refs/heads/{0}', github.event.repository.default_branch) && format('_{0}_ci', steps.slugify-ref-name.outputs.slug) || '' }}
- name: Push images (as latest)
if: ${{ inputs.enable-push-as-latest == 'true' }}
shell: bash
working-directory: ${{ inputs.build-context }}
run: docker/docker-ros/scripts/ci.sh
env:
ADDITIONAL_DEBS_FILE: ${{ inputs.additional-debs-file }}
ADDITIONAL_FILES_DIR: ${{ inputs.additional-files-dir }}
ADDITIONAL_PIP_FILE: ${{ inputs.additional-pip-file }}
BASE_IMAGE: ${{ inputs.base-image }}
BLACKLISTED_PACKAGES_FILE: ${{ inputs.blacklisted-packages-file }}
COMMAND: ${{ inputs.command }}
CUSTOM_SCRIPT_FILE: ${{ inputs.custom-script-file }}
DEV_IMAGE_NAME: ${{ steps.dev-image-name.outputs.lowercase }}
DEV_IMAGE_TAG: latest-dev
DISABLE_ROS_INSTALLATION: ${{ inputs.disable-ros-installation }}
ENABLE_RECURSIVE_ADDITIONAL_DEBS: ${{ inputs.enable-recursive-additional-debs }}
ENABLE_RECURSIVE_ADDITIONAL_PIP: ${{ inputs.enable-recursive-additional-pip }}
ENABLE_RECURSIVE_BLACKLISTED_PACKAGES: ${{ inputs.enable-recursive-blacklisted-packages }}
ENABLE_RECURSIVE_CUSTOM_SCRIPT: ${{ inputs.enable-recursive-custom-script }}
ENABLE_RECURSIVE_VCS_IMPORT: ${{ inputs.enable-recursive-vcs-import }}
ENABLE_SINGLEARCH_PUSH: ${{ inputs.enable-singlearch-push }}
ENABLE_SLIM: ${{ inputs.enable-slim }}
GIT_HTTPS_PASSWORD: ${{ inputs.git-https-password }}
GIT_HTTPS_SERVER: ${{ inputs.git-https-server }}
GIT_HTTPS_USER: ${{ inputs.git-https-user }}
GIT_SSH_KNOWN_HOST_KEYS: ${{ inputs.git-ssh-known-host-keys }}
GIT_SSH_PRIVATE_KEY: ${{ inputs.git-ssh-private-key }}
IMAGE_NAME: ${{ steps.image-name.outputs.lowercase }}
IMAGE_TAG: latest
PLATFORM: ${{ inputs.platform }}
RMW_IMPLEMENTATION: ${{ inputs.rmw-implementation }}
RMW_ZENOH_GIT_REF: ${{ inputs.rmw-zenoh-git-ref }}
ROS_DISTRO: ${{ inputs.ros-distro }}
SLIM_BUILD_ARGS: ${{ inputs.slim-build-args }}
SLIM_IMAGE_NAME: ${{ steps.slim-image-name.outputs.lowercase }}
SLIM_IMAGE_TAG: latest-slim
TARGET: ${{ inputs.target }}
VCS_IMPORT_FILE: ${{ inputs.vcs-import-file }}
_ENABLE_IMAGE_PUSH: true
_IMAGE_POSTFIX: ${{ github.ref != format('refs/heads/{0}', github.event.repository.default_branch) && format('_{0}_ci', steps.slugify-ref-name.outputs.slug) || '' }}