Merge pull request #1 from ethz-asl/feature/simple_example #6
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: Build a Docker Image First | |
| on: | |
| push: | |
| # Will trigger on MERGES (or pushes) to main branch. | |
| branches: | |
| - 'main' | |
| pull_request: | |
| # Will ALSO trigger any time a PR is opened merging to main. | |
| # Specify '*' here to merge on PRs being opened against ANY branch. | |
| branches: | |
| - 'main' | |
| # This creates environment variables that can be shared between all the jobs. | |
| env: | |
| # This will use docker.io for Dockerhub if empty, so we want to tell it to | |
| # use the github one (ghcr.io which stands for... GitHub Container Registry) | |
| REGISTRY: ghcr.io | |
| # Name the docker image after the repo: github.repository as <account>/<repo> | |
| IMAGE_NAME: ${{ github.repository }} | |
| jobs: | |
| # First we'll build the docker image in a separate job. Then we actually | |
| # build the code in a separate job. | |
| docker: | |
| runs-on: ubuntu-latest | |
| # Note that here we DON'T have a container because github refuses to allow | |
| # us to do docker-in-docker. So docker build runs natively on the machine. | |
| # The outputs tags gives us an output variabel that can be used in other | |
| # jobs. In this case, it's the name of the docker file. | |
| outputs: | |
| docker_image_name: ${{ steps.meta.outputs.tags }} | |
| steps: | |
| - name: Check out repository | |
| # We still need to do this to actually build the docker file. | |
| uses: actions/checkout@v3 | |
| - name: Set up Docker Buildx | |
| uses: docker/setup-buildx-action@v2 | |
| - name: Log into registry ${{ env.REGISTRY }} | |
| # Github pre-populates all of these for you! So you don't have to do | |
| # anything fancy. Just make sure the env.REGISTRY is set to ghcr.io | |
| uses: docker/login-action@v2 | |
| with: | |
| registry: ${{ env.REGISTRY }} | |
| username: ${{ github.actor }} | |
| password: ${{ secrets.GITHUB_TOKEN }} | |
| - name: Extract Docker metadata | |
| # This just figures out what to tag our docker file as. It's less | |
| # complicated than it looks, and you have a lot of flexibility in | |
| # how you build tags here. | |
| id: meta | |
| uses: docker/metadata-action@v5 | |
| with: | |
| images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }} | |
| - name: Build and push docker | |
| uses: docker/build-push-action@v4 | |
| with: | |
| context: toy_example_package/docker/ | |
| file: toy_example_package/docker/Dockerfile | |
| push: true | |
| tags: ${{ steps.meta.outputs.tags }} | |
| labels: ${{ steps.meta.outputs.labels }} | |
| cache-from: type=gha | |
| cache-to: type=gha,mode=max | |
| # The name of the job is "build". All jobs run in SEPARATE containers, so | |
| # they may run on separate machines and have the workspace wiped inbetween. | |
| build: | |
| # You need to specify the dependency on the previous job (docker) here! | |
| needs: docker | |
| # Run on a github-hosted runner. To specify our own, select: | |
| # [self-hosted, linux] instead. | |
| runs-on: ubuntu-latest | |
| # This will now use the container we build above! The "needs" specifies that | |
| # this must be populated and finished by the other job before we can run. | |
| container: ${{ needs.docker.outputs.docker_image_name }} | |
| steps: | |
| # Name is optional, uses: specify which ACTION is used (basically github | |
| # macros). You can write your own! Use with: to specify extra parameters. | |
| - name: Check out repository | |
| uses: actions/checkout@v3 | |
| with: | |
| # This path is relative to ${GITHUB_WORKSPACE}. You can also use | |
| # "/${HOME}/" if you want but be sure to have the leading slash. | |
| path: catkin_ws/src/toy_example_package | |
| - name: Setup workspace & install ROS dependencies | |
| # We can skip the other setup steps now because it's all in the docker. | |
| run: | | |
| cd ${GITHUB_WORKSPACE}/catkin_ws | |
| catkin init | |
| catkin config --extend "/opt/ros/noetic" | |
| catkin config --merge-devel | |
| rosdep update | |
| rosdep install --from-paths src --ignore-src -y --rosdistro noetic | |
| catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release | |
| shell: bash | |
| - name: Catkin build | |
| # The working directory is reset for each individual run command, so just | |
| # be aware! | |
| run: | | |
| cd ${GITHUB_WORKSPACE}/catkin_ws | |
| catkin build --continue toy_example_package | |
| shell: bash |