Color correction #1453
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| name: build | |
| on: | |
| push: | |
| # Publish `master` as Docker `latest` image. Run only when the docker subdirectory is modified. | |
| branches: | |
| - master | |
| # Run tests for any PRs that have changed a file in the docker subdirectory. | |
| pull_request: | |
| jobs: | |
| check-docker: | |
| runs-on: ubuntu-22.04 | |
| outputs: | |
| docker: ${{ steps.filter.outputs.docker }} | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - name: Check if docker directory has changed | |
| uses: dorny/paths-filter@v2.11.1 | |
| id: filter | |
| with: | |
| filters: | | |
| docker: | |
| - 'docker/**' | |
| - '.github/workflows/**' | |
| core-docker: | |
| runs-on: ubuntu-22.04 | |
| needs: check-docker | |
| if: needs.check-docker.outputs.docker == 'true' | |
| strategy: | |
| matrix: | |
| arch: [arm64, amd64] | |
| fail-fast: false | |
| env: | |
| IMAGE_NAME: 'dukerobotics/robosub-ros:core-${{ matrix.arch }}' | |
| TARGETPLATFORM: 'linux/${{ matrix.arch }}' | |
| SERVICE_NAME: core | |
| BASE_IMAGE: dukerobotics/robosub-ros:base | |
| FILE_NAME: '${{ matrix.arch }}-core.tar.gz' | |
| CUDA: ${{ matrix.arch == 'arm64' }} | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - name: Setup environment and build | |
| run: | | |
| ./.github/workflows/build.sh | |
| - name: Push image to dockerhub | |
| if: github.event_name == 'push' | |
| run: | | |
| echo "${{ secrets.DOCKER_BOT_TOKEN }}" | docker login -u dukeroboticsbot --password-stdin | |
| docker push ${IMAGE_NAME} | |
| - name: Save image | |
| run: | | |
| docker save ${IMAGE_NAME} | gzip > ${FILE_NAME} | |
| - name: Create artifact from image | |
| uses: actions/upload-artifact@v3 | |
| with: | |
| name: core | |
| path: ${{ env.FILE_NAME }} | |
| onboard-docker: | |
| runs-on: ubuntu-22.04 | |
| needs: core-docker | |
| strategy: | |
| matrix: | |
| arch: [arm64, amd64] | |
| fail-fast: false | |
| env: | |
| IMAGE_NAME: 'dukerobotics/robosub-ros:onboard-${{ matrix.arch }}' | |
| TARGETPLATFORM: 'linux/${{ matrix.arch }}' | |
| SERVICE_NAME: onboard | |
| BASE_IMAGE: 'dukerobotics/robosub-ros:core-${{ matrix.arch }}' | |
| FILE_NAME: '${{ matrix.arch }}-core.tar.gz' | |
| CUDA: ${{ matrix.arch == 'arm64' }} | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - name: Get core image | |
| uses: actions/download-artifact@v3 | |
| with: | |
| name: core | |
| path: core_im | |
| - name: Load core image | |
| run: | | |
| docker load < ./core_im/${FILE_NAME} | |
| rm -rf core_im | |
| - name: Setup environment and build docker image | |
| run: ./.github/workflows/build.sh | |
| - name: Start containers | |
| run: | | |
| docker tag ${IMAGE_NAME} dukerobotics/robosub-ros:onboard | |
| docker-compose up -d | |
| - name: Test build | |
| run: docker exec ${SERVICE_NAME} ./build.sh | |
| - name: Test Arduino build | |
| if: matrix.arch == 'amd64' | |
| run: docker exec ${SERVICE_NAME} ./.github/workflows/test_arduino.sh | |
| - name: Test ROS launchfiles | |
| if: matrix.arch == 'amd64' | |
| run: docker exec -t ${SERVICE_NAME} bash -lc "python ./scripts/test-launch.py" | |
| - name: Push image to dockerhub | |
| if: github.event_name == 'push' | |
| run: | | |
| echo "${{ secrets.DOCKER_BOT_TOKEN }}" | docker login -u dukeroboticsbot --password-stdin | |
| docker push ${IMAGE_NAME} | |
| push-docker: | |
| runs-on: ubuntu-22.04 | |
| needs: [onboard-docker, landside-docker] | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - name: Push images to latest on dockerhub | |
| if: github.event_name == 'push' | |
| run: | | |
| ./.github/workflows/setup.sh | |
| echo "${{ secrets.DOCKER_BOT_TOKEN }}" | docker login -u dukeroboticsbot --password-stdin | |
| docker buildx imagetools create --tag dukerobotics/robosub-ros:core dukerobotics/robosub-ros:core-amd64 dukerobotics/robosub-ros:core-arm64 | |
| docker buildx imagetools create --tag dukerobotics/robosub-ros:onboard dukerobotics/robosub-ros:onboard-amd64 dukerobotics/robosub-ros:onboard-arm64 | |
| cleanup-docker: | |
| runs-on: ubuntu-22.04 | |
| needs: [check-docker, push-docker] | |
| if: always() && (needs.check-docker.outputs.docker == 'true') | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - name: Cleanup artifacts | |
| uses: geekyeggo/delete-artifact@v2 | |
| with: | |
| name: core | |
| landside-docker: | |
| runs-on: ubuntu-22.04 | |
| needs: core-docker | |
| env: | |
| IMAGE_NAME: dukerobotics/robosub-ros:landside | |
| BASE_IMAGE: dukerobotics/robosub-ros:core-amd64 | |
| SERVICE_NAME: landside | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - name: Get core image | |
| uses: actions/download-artifact@v3 | |
| with: | |
| name: core | |
| path: core_im | |
| - name: Load core image | |
| run: | | |
| docker load < ./core_im/amd64-core.tar.gz | |
| rm -rf core_im | |
| - name: Setup environment and build docker image | |
| run: | | |
| cd docker/${SERVICE_NAME} | |
| docker build --build-arg BASE_IMAGE=${BASE_IMAGE} -t ${IMAGE_NAME} . | |
| - name: Start containers | |
| run: docker-compose up -d | |
| - name: Test build | |
| run: docker exec ${SERVICE_NAME} ./build.sh | |
| - name: Test ROS launchfiles | |
| run: docker exec -t ${SERVICE_NAME} bash -lc "python ./scripts/test-launch.py" | |
| - name: Push image to dockerhub | |
| if: github.event_name == 'push' | |
| run: | | |
| echo "${{ secrets.DOCKER_BOT_TOKEN }}" | docker login -u dukeroboticsbot --password-stdin | |
| docker push ${IMAGE_NAME} | |
| build-without-docker: | |
| runs-on: ubuntu-22.04 | |
| needs: check-docker | |
| if: needs.check-docker.outputs.docker == 'false' | |
| strategy: | |
| matrix: | |
| workspace: [onboard, landside] | |
| fail-fast: false | |
| container: dukerobotics/robosub-ros:${{ matrix.workspace }} | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - name: Test build | |
| run: ./build.sh | |
| - name: Test Arduino build | |
| if: matrix.workspace == 'onboard' | |
| run: ./.github/workflows/test_arduino.sh | |
| - name: Test ROS launchfiles | |
| shell: bash -elo pipefail {0} | |
| run: | | |
| source ${{ matrix.workspace }}/catkin_ws/devel/setup.bash | |
| ./scripts/test-launch.py | |
| build-foxglove: | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Build all Foxglove extensions | |
| run: | | |
| cd foxglove | |
| ./foxglove.py install -e |