Docker #121
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| name: Docker | |
| on: | |
| schedule: | |
| # 6 AM UTC every Sunday | |
| - cron: "0 6 * * 6" | |
| workflow_dispatch: | |
| push: | |
| branches: | |
| - noetic-devel | |
| paths: | |
| - '**/package.xml' | |
| - .docker | |
| - .dockignore | |
| - .github/workflows/docker.yml | |
| - .github/workflows/*.rosinstall | |
| concurrency: # cancel any previous workflow(s) from the same PR or branch/tag | |
| group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }} | |
| cancel-in-progress: true | |
| jobs: | |
| ci: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| ROS_DISTRO: [noetic, one] | |
| runs-on: ubuntu-latest | |
| permissions: | |
| packages: write | |
| contents: read | |
| env: | |
| IMAGE: ubiagni/mujoco_ros:${{ matrix.ROS_DISTRO }}-${{ github.job }} | |
| MUJOCO_VERSIONS: 3.2.0 | |
| steps: | |
| - name: Check for apt updates | |
| uses: rhaschke/docker-run-action@main | |
| continue-on-error: true | |
| id: apt | |
| with: | |
| image: ${{ env.IMAGE }} | |
| shell: bash | |
| run: | | |
| apt-get update | |
| have_updates=$(apt-get --simulate upgrade | grep -q "^0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.$" && echo false || echo true) | |
| echo "no_cache=$have_updates" >> "$GITHUB_OUTPUT" | |
| - name: Set up Docker Buildx | |
| uses: docker/setup-buildx-action@v3 | |
| if: ${{ github.event_name == 'workflow_dispatch' || github.event_name != 'schedule' || steps.apt.outputs.no_cache }} | |
| - name: Login to Container Registry | |
| uses: docker/login-action@v3 | |
| with: | |
| username: ${{ secrets.DOCKERHUB_USERNAME }} | |
| password: ${{ secrets.DOCKERHUB_TOKEN }} | |
| - name: Build and push | |
| uses: docker/build-push-action@v5 | |
| if: ${{ github.event_name == 'workflow_dispatch' || github.event_name != 'schedule' || steps.apt.outputs.no_cache }} | |
| with: | |
| file: .docker/Dockerfile | |
| build-args: | | |
| ROS_DISTRO=${{ matrix.ROS_DISTRO }} | |
| BASE_DOCKER_NAME=${{ matrix.ROS_DISTRO == 'one' && 'jammy' || matrix.ROS_DISTRO }} | |
| MUJOCO_VERSIONS=${{ env.MUJOCO_VERSIONS }} | |
| IMAGE_PREFIX=${{ matrix.ROS_DISTRO == 'one' && 'ubiagni/' || '' }} | |
| push: true | |
| no-cache: ${{ steps.apt.outputs.no_cache || github.event_name == 'workflow_dispatch' }} | |
| cache-from: type=registry,ref=${{ env.IMAGE }} | |
| cache-to: type=inline | |
| tags: ${{ env.IMAGE }} |