Sync develop to master (#115)

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# PR Details
## Description
This is an intermediate branch cut from master which includes fixes to
the branch coupling of build and checkout scripts. This coupling can not
yet be removed from CI processes because this repository still uses
CircleCI. The functionality to decouple CI from branches is currently
only available through our GitHub actions
<!--- Describe your changes in detail -->

## Related GitHub Issue

<!--- This project only accepts pull requests related to open GitHub
issues or Jira Keys -->
<!--- If suggesting a new feature or change, please discuss it in an
issue first -->
<!--- If fixing a bug, there should be an issue describing it with steps
to reproduce -->
<!--- Please DO NOT name partially fixed issues, instead open an issue
specific to this fix -->
<!--- Please link to the issue here: -->

## Related Jira Key

<!-- e.g. CAR-123 -->

## Motivation and Context
Decouple build/checkout from branch to make release process simpler
<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?
CI
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to -->
<!--- see how your change affects other areas of the code, etc. -->

## Types of changes

<!--- What types of changes does your code introduce? Put an `x` in all
the boxes that apply: -->

- [ ] Defect fix (non-breaking change that fixes an issue)
- [x] New feature (non-breaking change that adds functionality)
- [ ] Breaking change (fix or feature that cause existing functionality
to change)

## Checklist:

<!--- Go over all the following points, and put an `x` in all the boxes
that apply. -->
<!--- If you're unsure about any of these, don't hesitate to ask. We're
here to help! -->

- [ ] I have added any new packages to the sonar-scanner.properties file
- [ ] My change requires a change to the documentation.
- [ ] I have updated the documentation accordingly.
- [x] I have read the
[**CONTRIBUTING**](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Contributing.md)
document.
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.

.circleci/config.yml

@@ -22,7 +22,7 @@ version: 2
 # Run static code analyzer for SourceCloud
 # Upload test results
 # Every run command should start with source ${INIT_ENV} to ensure all default dependancies are available
-
+# TODO:(CAR-6030) Move to github actions to remove branch/version coupling
 jobs:
   build:
     # Pull docker image from docker hub

.github/workflows/docker.yml

@@ -0,0 +1,9 @@
+name: Docker build
+
+on:
+  pull_request:
+      types: [opened, synchronize, reopened]
+
+jobs:
+  docker:
+    uses: usdot-fhwa-stol/actions/.github/workflows/docker.yml@main

.github/workflows/dockerhub.yml

@@ -0,0 +1,17 @@
+name: Docker Hub build
+
+on:
+  push:
+    branches:
+      - develop
+      - master
+      - "release/*"
+    tags:
+      - "carma-system-*"
+
+jobs:
+  dockerhub:
+    uses: usdot-fhwa-stol/actions/.github/workflows/dockerhub.yml@main
+    secrets:
+      DOCKERHUB_USERNAME: ${{ secrets.DOCKERHUB_USERNAME }}
+      DOCKERHUB_TOKEN: ${{ secrets.DOCKERHUB_TOKEN }}

Dockerfile

@@ -12,10 +12,12 @@
 #  License for the specific language governing permissions and limitations under
 #  the License.
 
-FROM usdotfhwastoldev/carma-base:develop as deps
-
+ARG DOCKER_ORG="usdotfhwastoldev"
+ARG DOCKER_TAG="develop"
+FROM ${DOCKER_ORG}/carma-base:${DOCKER_TAG} as deps
 
 FROM deps as setup
+ARG GIT_BRANCH="develop" 
 
 ARG ROS1_PACKAGES=""
 ENV ROS1_PACKAGES=${ROS1_PACKAGES}
@@ -24,7 +26,7 @@ ENV ROS2_PACKAGES=${ROS2_PACKAGES}
 
 RUN mkdir ~/src
 COPY --chown=carma . /home/carma/src/
-RUN ~/src/docker/checkout.bash
+RUN ~/src/docker/checkout.bash -b ${GIT_BRANCH}
 RUN ~/src/docker/install.sh
 
 FROM deps

docker/checkout.bash

@@ -20,11 +20,13 @@
 set -exo pipefail
 
 dir=~
+BRANCH=develop
 while [[ $# -gt 0 ]]; do
       arg="$1"
       case $arg in
-            -d|--develop)
-                  BRANCH=develop
+            -b|--branch)
+                  BRANCH=$2
+                  shift
                   shift
             ;;
             -r|--root)
@@ -35,10 +37,5 @@ while [[ $# -gt 0 ]]; do
       esac
 done
 
-if [[ "$BRANCH" = "develop" ]]; then
-      git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ~/src/CARMAMsgs --branch $BRANCH
-      git clone https://github.com/usdot-fhwa-stol/carma-utils.git ~/src/CARMAUtils --branch $BRANCH
-else
-      git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ${dir}/src/CARMAMsgs --branch develop
-      git clone https://github.com/usdot-fhwa-stol/carma-utils.git ${dir}/src/CARMAUtils --branch develop
-fi
+git clone https://github.com/usdot-fhwa-stol/carma-msgs.git "${dir}"/src/CARMAMsgs --branch "${BRANCH}"
+git clone https://github.com/usdot-fhwa-stol/carma-utils.git "${dir}"/src/CARMAUtils --branch "${BRANCH}"