ros2_control_ci/.github/workflows/build_and_publish_debian_docker.yaml at master · ros-controls/ros2_control_ci · GitHub

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---
name: Build and publish debian docker images

on:
  workflow_dispatch:
  push:
    branches:
      - master
    paths:
      - '.github/workflows/build_and_publish_debian_docker.yaml'
      - 'ros2_debian/**'
  pull_request:
    paths:
      - '.github/workflows/build_and_publish_debian_docker.yaml'
      - 'ros2_debian/**'
      - 'ros_controls.*.repos'
  schedule:
    - cron: '0 1 * * MON'

concurrency:
  # cancel previous runs of the same workflow, except for pushes on given branches
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}

jobs:
  build_images:
    runs-on: ubuntu-latest
    permissions:
      contents: read
      packages: write
    strategy:
      fail-fast: false
      matrix:
        include:
          - ros_distro: 'humble'
            debian_version: 'debian11'
            exclude_packages: ''
          - ros_distro: 'jazzy'
            debian_version: 'debian12'
            exclude_packages: ''
          - ros_distro: 'kilted'
            debian_version: 'debian12'
            exclude_packages: ''
          - ros_distro: 'rolling'
            debian_version: 'debian12'
            exclude_packages: ''

    steps:
      - uses: actions/checkout@v6
      - uses: docker/setup-buildx-action@v4
      - name: Set image tag
        id: image_meta
        run: |
          tag_suffix=""
          if [ "${{ github.event_name }}" = "pull_request" ]; then
            tag_suffix="-pr-${{ github.event.pull_request.number }}"
          fi
          echo "image_tag=${{ matrix.ros_distro }}-debian${tag_suffix}" >> "$GITHUB_OUTPUT"
      - uses: docker/login-action@v4
        with:
          registry: ghcr.io
          username: ${{ github.repository_owner }}
          password: ${{ secrets.GITHUB_TOKEN }}
      - name: Build and push image
        uses: docker/build-push-action@v7
        with:
          context: .
          push: true
          provenance: false
          sbom: false
          file: ros2_debian/Dockerfile.${{ matrix.debian_version }}
          tags: ghcr.io/${{ github.repository_owner }}/ros:${{ steps.image_meta.outputs.image_tag }}
          labels: |
            org.opencontainers.image.source=https://github.com/ros-controls/ros2_control_ci
            org.opencontainers.image.description=${{ matrix.debian_version }} for ros-controls CI
            org.opencontainers.image.licenses=Apache-2.0
          cache-from: ${{ github.event_name != 'schedule' && format('type=gha,scope=debian-{0}', matrix.ros_distro) || '' }}
          cache-to: type=gha,scope=debian-${{ matrix.ros_distro }},mode=max
          build-args: |
            ROS_DISTRO=${{ matrix.ros_distro }}
            EXCLUDE_PACKAGES=gz_ros2_control gz_ros2_control_demos ign_ros2_control mujoco_ros2_control ros_gz_sim ros_gz_bridge rviz2 eigenpy hpp-fcl ${{ matrix.exclude_packages }}

  stack-build:
    if: ${{ github.event_name == 'pull_request' }}
    needs: build_images
    uses: ./.github/workflows/reusable-debian-build.yml
    strategy:
      fail-fast: false
      matrix:
        ROS_DISTRO: [rolling, humble, jazzy, kilted]
    with:
      ros_distro: ${{ matrix.ROS_DISTRO }}
      target_workspace: ros_controls.${{ matrix.ROS_DISTRO }}.repos
      skip_packages_regex: '^mujoco_ros2_control.*$|^gz_ros2_control.*$|^ros2_control_demo_example_9$|^ros2_control_demos$|^ign_ros2_control.*$'
      ref_for_scheduled_build: master
      docker_image_tag_suffix: ${{ format('-pr-{0}', github.event.pull_request.number) }}