Add Docker BuildX config

.docker/docker-bake.hcl

@@ -0,0 +1,94 @@
+#
+# Override these variables with environment variables
+# e.g.
+#
+# BLUE_ROS_DISTRO=iron docker buildx bake
+#
+# or
+#
+# export BLUE_ROS_DISTRO=iron
+# docker buildx bake
+#
+variable "BLUE_ROS_DISTRO" { default = "rolling" }
+variable "BLUE_GITHUB_REPO" { default = "robotic-decision-making-lab/blue" }
+
+group "default" {
+ targets = ["ci", "robot", "desktop", "desktop-nvidia"]
+}
+
+# These are populated by the metadata-action Github action for each target
+# when building in CI
+#
+target "docker-metadata-action-ci" {}
+target "docker-metadata-action-robot" {}
+target "docker-metadata-action-desktop" {}
+target "docker-metadata-action-desktop-nvidia" {}
+
+
+#
+# All images can pull cache from the images published at Github
+# or local storage (within the Buildkit image)
+#
+# ... and push cache to local storage
+#
+target "ci" {
+ inherits = ["docker-metadata-action-ci"]
+ dockerfile = ".docker/Dockerfile"
+ target = "ci"
+ context = ".."
+ args = {
+ ROS_DISTRO = "${BLUE_ROS_DISTRO}"
+ }
+ tags = [
+ "ghcr.io/${BLUE_GITHUB_REPO}:${BLUE_ROS_DISTRO}-ci"
+ ]
+ labels = {
+ "org.opencontainers.image.source" = "https://github.com/${BLUE_GITHUB_REPO}"
+ }
+ cache_from =[
+ "ghcr.io/${BLUE_GITHUB_REPO}:cache-${BLUE_ROS_DISTRO}-ci",
+ "ghcr.io/${BLUE_GITHUB_REPO}:cache-${BLUE_ROS_DISTRO}-robot",
+ "ghcr.io/${BLUE_GITHUB_REPO}:cache-${BLUE_ROS_DISTRO}-desktop",
+ "ghcr.io/${BLUE_GITHUB_REPO}:cache-${BLUE_ROS_DISTRO}-desktop-nvidia",
+ "type=local,dest=.docker-cache"
+ ]
+ cache_to = [
+ "type=local,dest=.docker-cache"
+ ]
+ platforms = ["linux/amd64", "linux/arm64"]
+}
+
+target "robot" {
+ inherits = [ "ci", "docker-metadata-action-robot" ]
+ target = "robot"
+ tags = [
+ "ghcr.io/${BLUE_GITHUB_REPO}:${BLUE_ROS_DISTRO}-robot"
+ ]
+ cache_to = [
+ "type=local,dest=.docker-cache"
+ ]
+}
+
+target "desktop" {
+ inherits = [ "ci", "docker-metadata-action-desktop" ]
+ target = "desktop"
+ tags = [
+ "ghcr.io/${BLUE_GITHUB_REPO}:${BLUE_ROS_DISTRO}-desktop"
+ ]
+ cache_to = [
+ "type=local,dest=.docker-cache"
+ ]
+ # amd64 only builds for desktop and desktop-nvidia
+ platforms = ["linux/amd64"]
+}
+
+target "desktop-nvidia" {
+ inherits = [ "desktop", "docker-metadata-action-desktop-nvidia" ]
+ target = "desktop-nvidia"
+ tags = [
+ "ghcr.io/${BLUE_GITHUB_REPO}:${BLUE_ROS_DISTRO}-desktop-nvidia"
+ ]
+ cache_to = [
+ "type=local,dest=.docker-cache"
+ ]
+}

.github/workflows/docker.yaml

@@ -1,8 +1,9 @@
 name: Docker
 
 on:
- schedule:
- - cron: "0 17 * * 6"
+ # Disable schedule for preliminary testing
+ # schedule:
+ # - cron: "0 17 * * 6"
  push:
  branches:
  - main
@@ -18,7 +19,7 @@ env:
  PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'Robotic-Decision-Making-Lab/blue') }}
 
 jobs:
- ci:
+ docker_build:
  strategy:
  fail-fast: false
  matrix:
@@ -28,164 +29,106 @@ jobs:
  packages: write
  contents: read
  steps:
- - name: Checkout repository
+ - name: Checkout
  uses: actions/checkout@v4
 
- - name: Log into registry
- if: env.PUSH == 'true'
- uses: docker/login-action@v3.3.0
- with:
- registry: ghcr.io
- username: ${{ github.actor }}
- password: ${{ secrets.GITHUB_TOKEN }}
-
- - name: Extract Docker metadata
- if: env.PUSH == 'true'
- id: meta
- uses: docker/metadata-action@v5.5.1
- with:
- images: ghcr.io/${{ github.repository }}
- tags: |
- type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }}
-
- - name: Build and push Docker image
- uses: docker/build-push-action@v6.7.0
- with:
- context: .
- file: .docker/Dockerfile
- build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
- target: ${{ github.job }}
- tags: ${{ steps.meta.outputs.tags }}
- labels: ${{ steps.meta.outputs.labels }}
- push: ${{ env.PUSH }}
-
- robot:
- strategy:
- fail-fast: false
- matrix:
- ROS_DISTRO: [rolling]
- runs-on: ubuntu-latest
- permissions:
- packages: write
- contents: read
- steps:
- - name: Checkout repository
- uses: actions/checkout@v4
-
- - name: Set up QEMU
- uses: docker/setup-qemu-action@v3.2.0
+ - # Add support for more platforms with QEMU (optional)
+ # https://github.com/docker/setup-qemu-action
+ name: Set up QEMU
+ uses: docker/setup-qemu-action@v3
 
  - name: Set up Docker Buildx
  uses: docker/setup-buildx-action@v3
 
- - name: Log into registry
- if: env.PUSH == 'true'
+ - if: env.PUSH == 'true'
+ name: Log into registry
  uses: docker/login-action@v3.3.0
  with:
  registry: ghcr.io
  username: ${{ github.actor }}
  password: ${{ secrets.GITHUB_TOKEN }}
 
- - name: Extract Docker metadata
+ # buildx bake, unfortunately, requires lower-cased repository names
+ # This shell ... er, hack, creates a local variable containing
+ # a down-cased version of $GITHUB_REPOSITORY
+ #
+ - id: lowercase-repo
+ name: Repository to lowercase
+ run: |
+ echo "repository=${GITHUB_REPOSITORY@L}" >> $GITHUB_OUTPUT
+
+ # Set metadata for each stage-image separately
+ - name: Set Docker metadata for "ci"
  if: env.PUSH == 'true'
- id: meta
+ id: meta-ci
  uses: docker/metadata-action@v5.5.1
  with:
  images: ghcr.io/${{ github.repository }}
+ bake-target: docker-metadata-action-ci
  tags: |
- type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }}
-
- - name: Build and push Docker image
- uses: docker/build-push-action@v6.7.0
- with:
- context: .
- file: .docker/Dockerfile
- build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
- target: ${{ github.job }}
- tags: ${{ steps.meta.outputs.tags }}
- labels: ${{ steps.meta.outputs.labels }}
- push: ${{ env.PUSH }}
- platforms: linux/amd64
- #platforms: linux/amd64,linux/arm64
-
- desktop:
- strategy:
- fail-fast: false
- matrix:
- ROS_DISTRO: [rolling]
- runs-on: ubuntu-latest
- permissions:
- packages: write
- contents: read
- steps:
- - name: Checkout repository
- uses: actions/checkout@v4
-
- - name: Log into registry
- if: env.PUSH == 'true'
- uses: docker/login-action@v3.3.0
- with:
- registry: ghcr.io
- username: ${{ github.actor }}
- password: ${{ secrets.GITHUB_TOKEN }}
+ type=raw,value=${{ matrix.ROS_DISTRO }}-ci
 
- - name: Extract Docker metadata
+ - name: Set Docker metadata for "robot"
  if: env.PUSH == 'true'
- id: meta
+ id: meta-robot
  uses: docker/metadata-action@v5.5.1
  with:
  images: ghcr.io/${{ github.repository }}
+ bake-target: docker-metadata-action-robot
  tags: |
- type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }}
-
- - name: Build and push Docker image
- uses: docker/build-push-action@v6.7.0
- with:
- context: .
- file: .docker/Dockerfile
- build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
- target: ${{ github.job }}
- tags: ${{ steps.meta.outputs.tags }}
- labels: ${{ steps.meta.outputs.labels }}
- push: ${{ env.PUSH }}
-
- desktop-nvidia:
- strategy:
- fail-fast: false
- matrix:
- ROS_DISTRO: [rolling]
- runs-on: ubuntu-latest
- permissions:
- packages: write
- contents: read
- steps:
- - name: Checkout repository
- uses: actions/checkout@v4
+ type=raw,value=${{ matrix.ROS_DISTRO }}-robot
 
- - name: Log into registry
+ - name: Set Docker metadata for "desktop"
  if: env.PUSH == 'true'
- uses: docker/login-action@v3.3.0
+ id: meta-desktop
+ uses: docker/metadata-action@v5.5.1
  with:
- registry: ghcr.io
- username: ${{ github.actor }}
- password: ${{ secrets.GITHUB_TOKEN }}
+ images: ghcr.io/${{ github.repository }}
+ bake-target: docker-metadata-action-desktop
+ tags: |
+ type=raw,value=${{ matrix.ROS_DISTRO }}-desktop
 
- - name: Extract Docker metadata
+ - name: Set Docker metadata for "desktop-nvidia"
  if: env.PUSH == 'true'
- id: meta
+ id: meta-desktop-nvidia
  uses: docker/metadata-action@v5.5.1
  with:
  images: ghcr.io/${{ github.repository }}
+ bake-target: docker-metadata-action-desktop-nvidia
  tags: |
- type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }}
-
- - name: Build and push Docker image
- uses: docker/build-push-action@v6.7.0
+ type=raw,value=${{ matrix.ROS_DISTRO }}-desktop-nvidia
+
+ - if: github.event_name == 'push'
+ name: Build and push (non PR)
+ uses: docker/bake-action@v5.5.0
+ env:
+ BLUE_ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
+ BLUE_GITHUB_REPO: ${{ steps.lowercase-repo.outputs.repository }}
  with:
- context: .
- file: .docker/Dockerfile
- build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
- target: ${{ github.job }}
- tags: ${{ steps.meta.outputs.tags }}
- labels: ${{ steps.meta.outputs.labels }}
+ workdir: .docker
+ files: |
+ ./docker-bake.hcl
+ ${{ steps.meta-ci.outputs.bake-file }}
+ ${{ steps.meta-robot.outputs.bake-file }}
+ ${{ steps.meta-desktop.outputs.bake-file }}
+ ${{ steps.meta-desktop-nvidia.outputs.bake-file }}
  push: ${{ env.PUSH }}
+ set: |
+ *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:cache-${{ matrix.ROS_DISTRO }}
+ *.cache-to=type=registry,mode=max,ref=ghcr.io/${{ github.repository }}:cache-${{ matrix.ROS_DISTRO }}
+
+ # Pull request builds are not cached; and only built for AMD64
+ - if: github.event_name == 'pull_request'
+ name: Build and push (PR)
+ uses: docker/bake-action@v5.5.0
+ env:
+ BLUE_ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
+ BLUE_GITHUB_REPO: ${{ steps.lowercase-repo.outputs.repository }}
+ with:
+ workdir: .docker
+ files: |
+ ./docker-bake.hcl
+ set: |
+ *.platform=linux/amd64
+ *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:cache-${{ matrix.ROS_DISTRO }}
+ *.cache-to=

.gitignore

@@ -16,3 +16,6 @@ mav.parm
 mav.tlog
 mav.tlog.raw
 logs/
+
+# Allow overrides in docker-bake
+.docker/docker-bake.override.hcl