feat(docker): support remote multi-platform compilation on ci

.github/actions/docker-build-and-push/action.yaml → .github/actions/docker-build-multi-platform/action.yaml

@@ -5,9 +5,6 @@ inputs:
   name:
     description: ""
     required: true
-  platform:
-    description: ""
-    required: true
   bake-target:
     description: ""
     required: true
@@ -20,6 +17,9 @@ inputs:
   tag-suffix:
     description: ""
     required: false
+  common-runner-arm64-01-ip:
+    description: ""
+    required: true
 
 runs:
   using: composite
@@ -39,34 +39,45 @@ runs:
 
     - name: Setup Docker Buildx
       uses: docker/setup-buildx-action@v3
+      with:
+        platforms: linux/amd64
+        driver: docker-container
+        append: |
+          - endpoint: ssh://ubuntu@${{ inputs.common-runner-arm64-01-ip }}
+            platforms: linux/arm64
+            driver: docker-container
 
     - name: Restore ccache
       uses: actions/cache/restore@v4
       with:
         path: |
-          root-ccache
-        key: ccache-${{ inputs.platform }}-${{ inputs.name }}-${{ hashFiles('src/**/*.cpp') }}
+          root-ccache-amd64
+          root-ccache-arm64
+        key: ccache-${{ inputs.name }}-${{ hashFiles('src/**/*.cpp') }}
         restore-keys: |
-          ccache-${{ inputs.platform }}-${{ inputs.name }}-
-          ccache-${{ inputs.platform }}-
+          ccache-${{ inputs.name }}-
+          ccache-
 
     - name: Restore apt-get
       uses: actions/cache/restore@v4
       with:
         path: |
-          var-cache-apt
-        key: apt-get-${{ inputs.platform }}-${{ inputs.name }}-${{ hashFiles('src/**/package.xml') }}
+          var-cache-apt-amd64
+          var-cache-apt-arm64
+        key: apt-get-${{ inputs.name }}-${{ hashFiles('src/**/package.xml') }}
         restore-keys: |
-          apt-get-${{ inputs.platform }}-${{ inputs.name }}-
-          apt-get-${{ inputs.platform }}-
+          apt-get-${{ inputs.name }}-
+          apt-get-
 
     - name: Inject cache into docker
       uses: reproducible-containers/[email protected]
       with:
         cache-map: |
           {
-            "root-ccache": "/root/.ccache",
-            "var-cache-apt": "/var/cache/apt"
+            "root-ccache-amd64": "/root/.ccache",
+            "root-ccache-arm64": "/root/.ccache",
+            "var-cache-apt-amd64": "/var/cache/apt",
+            "var-cache-apt-arm64": "/var/cache/apt"
           }
         skip-extraction: true
 

.github/workflows/docker-build-and-push.yaml

@@ -22,20 +22,23 @@ jobs:
           - cuda
         include:
           - name: no-cuda
-            platform: amd64
             base_image_env: base_image
-            lib_dir: x86_64
             setup-args: --no-nvidia
             additional-tag-suffix: ""
           - name: cuda
-            platform: amd64
             base_image_env: base_image
-            lib_dir: x86_64
             additional-tag-suffix: -cuda
     steps:
       - name: Check out repository
         uses: actions/checkout@v4
 
+      - name: Set up remote runner SSH
+        uses: MrSquaare/[email protected]
+        with:
+          host: ${{ secrets.COMMON_RUNNER_ARM64_01_IP }}
+          private-key: ${{ secrets.COMMON_RUNNER_ARM64_01_PRIVATE_KEY }}
+          private-key-name: common-runner-ssh-key
+
       - name: Set git config
         uses: autowarefoundation/autoware-github-actions/set-git-config@v1
         with:
@@ -61,21 +64,20 @@ jobs:
         if: ${{ steps.changed-files.outputs.any_changed == 'true' ||
           github.event_name == 'workflow_dispatch' ||
           (github.event_name == 'push' && github.ref_type == 'tag') }}
-        uses: ./.github/actions/docker-build-and-push
+        uses: ./.github/actions/docker-build-multi-platform
         with:
+          common-runner-arm64-01-ip: ${{ secrets.COMMON_RUNNER_ARM64_01_IP }}
           name: ${{ matrix.name }}
-          platform: ${{ matrix.platform }}
           bake-target: autoware
           build-args: |
-            *.platform=linux/${{ matrix.platform }}
+            *.platform=linux/amd64,linux/arm64
             *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
             *.args.BASE_IMAGE=${{ needs.load-env.outputs[format('{0}', matrix.base_image_env)] }}
             *.args.SETUP_ARGS=${{ matrix.setup-args }}
-            *.args.LIB_DIR=${{ matrix.lib_dir }}
-            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:${{ matrix.name }}-${{ matrix.platform }}-${{ github.ref_name }}
-            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:${{ matrix.name }}-${{ matrix.platform }}-main
-            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:${{ matrix.name }}-${{ matrix.platform }}-${{ github.ref_name }},mode=max
-          tag-suffix: ${{ matrix.additional-tag-suffix }}-${{ matrix.platform }}
+            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:${{ matrix.name }}-${{ github.ref_name }}
+            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:${{ matrix.name }}-main
+            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:${{ matrix.name }}-${{ github.ref_name }},mode=max
+          tag-suffix: ${{ matrix.additional-tag-suffix }}
           tag-prefix: ${{ needs.load-env.outputs.rosdistro }}
 
       - name: Show disk space