support apple silicon

.docker/jazzy.arm64v8.dockerfile

@@ -0,0 +1,50 @@
+ARG ROS_DISTRO="jazzy"
+FROM arm64v8/ubuntu:24.04
+ARG BRANCH="ros2"
+
+# update and upgrade libs
+RUN apt-get update \
+    && apt-get -y upgrade \
+    && rm -rf /tmp/*
+
+# Install basics
+ENV DEBIAN_FRONTEND noninteractive
+ENV DEBCONF_NONINTERACTIVE_SEEN=true
+# hadolint ignore=DL3008
+RUN apt-get install -y --no-install-recommends \
+    sudo tzdata build-essential gfortran automake \
+    bison flex libtool git wget locales \
+    software-properties-common
+
+# Locale for UTF-8
+RUN locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 && \
+    export LANG=en_US.UTF-8
+
+# Install Utilities
+# hadolint ignore=DL3008
+RUN apt-get -y install --no-install-recommends \
+    x11-apps mesa-utils xauth \
+    && rm -rf /tmp/*
+
+ADD https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
+extras/ros-jazzy-gz-harmonic-install.sh install.sh
+RUN bash install.sh
+
+ENV ROS_UNDERLAY /root/ws_dave/install
+WORKDIR $ROS_UNDERLAY/../src
+
+ADD https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
+extras/repos/dave.$ROS_DISTRO.repos dave.repos
+RUN vcs import < dave.repos
+
+RUN apt-get update && rosdep update && \
+    rosdep install -iy --from-paths . && \
+    rm -rf /var/lib/apt/lists/
+
+WORKDIR $ROS_UNDERLAY/..
+RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" && \
+    colcon build
+
+# source entrypoint setup
+RUN sed --in-place --expression \
+    '$i source "$ROS_UNDERLAY/setup.bash"' /ros_entrypoint.sh

.github/workflows/docker.yml → .github/workflows/docker-amd64.yml

@@ -50,7 +50,7 @@ jobs:
           push: true
           tags: ${{ steps.meta.outputs.tags }}
           labels: ${{ steps.meta.outputs.labels }}
-          file: .docker/jazzy.dockerfile
+          file: .docker/jazzy.amd64.dockerfile
           build-args: |
             ROS_DISTRO=${{ env.ROS_DISTRO }}
             BRANCH=${{ env.BRANCH }}

.github/workflows/docker-arm64v8.yml

@@ -0,0 +1,61 @@
+---
+name: Create and publish a Docker image
+
+# yamllint disable-line rule:truthy
+on:
+  push:
+    tags: ["*"]
+    branches:
+      - ros2
+
+env:
+  IMAGE_NAME: ${{ github.repository }}
+  ROS_DISTRO: jazzy
+  BRANCH: ros2
+
+jobs:
+  build-and-push-to-docker-hub:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      packages: write
+
+    steps:
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Log in to the Container registry
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+      - name: Docker meta
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: woensugchoi/dave
+          tags: |
+            type=ref,event=branch
+            type=semver,pattern={{version}}
+            type=semver,pattern={{major}}.{{minor}}
+
+      - name: Build and push Docker image
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          push: true
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          file: .docker/jazzy.arm64v8.dockerfile
+          build-args: |
+            ROS_DISTRO=${{ env.ROS_DISTRO }}
+            BRANCH=${{ env.BRANCH }}
+
+      - name: Debug environment variables
+        run: |
+          echo "ROS_DISTRO: ${ROS_DISTRO}"
+          echo "BRANCH: ${BRANCH}"