From 54279dc5820d9073ecd9fd2ae05fd0668b4641bf Mon Sep 17 00:00:00 2001
From: Levi Armstrong <levi.armstrong@gmail.com>
Date: Tue, 21 Nov 2023 07:01:59 -0600
Subject: [PATCH] Add docker CI

---
 .github/workflows/docker.yml | 63 ++++++++++++++++++++++++++++++++++++
 docker/Dockerfile            |  8 ++++-
 2 files changed, 70 insertions(+), 1 deletion(-)
 create mode 100644 .github/workflows/docker.yml

diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
new file mode 100644
index 00000000..dd9381d5
--- /dev/null
+++ b/.github/workflows/docker.yml
@@ -0,0 +1,63 @@
+name: Docker
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+    paths:
+      - 'docker/Dockerfile'
+      - '.github/workflows/docker.yml'
+  release:
+    types:
+      - released
+
+jobs:
+  ci:
+    name: ${{ matrix.distro }}
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        distro: [focal, jammy]
+    env:
+      REGISTRY: ghcr.io
+      IMAGE_NAME: ${{ github.repository }}
+      PUSH_DOCKER_IMAGE: ${{ github.ref == 'refs/heads/master' || github.event_name == 'release' }}
+    permissions:
+      contents: read
+      packages: write
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Log in to the Container registry
+        uses: docker/login-action@v3
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Extract Docker meta-information
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+          flavor: |
+            latest=false
+            prefix=
+            suffix=
+          tags: |
+            type=ref,event=branch,prefix=${{ matrix.distro }}-
+            type=raw,event=pr,prefix=${{ matrix.distro }}-,value=master
+            type=semver,pattern={{major}}.{{minor}},prefix=${{ matrix.distro }}-
+
+      - name: Build and push Docker image
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          file: docker/Dockerfile
+          build-args: TAG=${{ steps.meta.outputs.version }}
+          push: ${{ env.PUSH_DOCKER_IMAGE }}
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 5154e9fe..94585887 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -1,5 +1,5 @@
 ARG TAG
-FROM ghcr.io/tesseract-robotics/tesseract_planning_deploy:${TAG}
+FROM ghcr.io/tesseract-robotics/tesseract_planning:${TAG}
 
 SHELL ["/bin/bash", "-c"]
 
@@ -7,6 +7,11 @@ ENV DEBIAN_FRONTEND noninteractive
 
 USER root
 
+# Install the dependency
+COPY .add-gazebo-ppa /tmp/add_gazebo_ppa.sh
+RUN ./tmp/add_gazebo_ppa.sh \
+  && apt install -y qt-advanced-docking-system libgz-rendering7-dev libgz-common5-dev libgz-math7-dev
+
 # Bind mount the source directory so as not to unnecessarily copy source code into the docker image
 ARG WORKSPACE_DIR=/opt/tesseract_qt
 RUN --mount=type=bind,target=${WORKSPACE_DIR}/src/tesseract_qt \
@@ -18,6 +23,7 @@ RUN --mount=type=bind,target=${WORKSPACE_DIR}/src/tesseract_qt \
 # Build the repository
 # Bind mount the source directory so as not to unnecessarily copy source code into the docker image
 RUN --mount=type=bind,target=${WORKSPACE_DIR}/src/tesseract_qt \
+  source /opt/tesseract/install/setup.bash \
   source /opt/tesseract_planning/install/setup.bash \
   && cd ${WORKSPACE_DIR} \ 
   && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_RENDERING=OFF -DBUILD_STUDIO=OFF \