Enable caching and dont replace default tags on PRs

christophfroehlich · christophfroehlich · commit 00d9600ef506 · 2026-03-02T21:03:03.000Z
diff --git a/.github/workflows/build_and_publish_debian_docker.yaml b/.github/workflows/build_and_publish_debian_docker.yaml
@@ -3,6 +3,10 @@ name: Build and publish debian docker images
 
 on:
   workflow_dispatch:
+  push:
+    paths:
+      - '.github/workflows/build_and_publish_debian_docker.yaml'
+      - 'ros2_debian/**'
   pull_request:
     paths:
       - '.github/workflows/build_and_publish_debian_docker.yaml'
@@ -41,17 +45,28 @@ jobs:
     steps:
       - uses: actions/checkout@v6
       - uses: docker/setup-buildx-action@v3
+      - 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@v3
         with:
           registry: ghcr.io
           username: ${{ github.repository_owner }}
           password: ${{ secrets.GITHUB_TOKEN }}
-      - uses: docker/build-push-action@v6
+      - name: Build and push image
+        uses: docker/build-push-action@v6
         with:
           context: ros2_debian
           push: true
           file: ros2_debian/Dockerfile.${{ matrix.debian_version }}
-          tags: ghcr.io/${{ github.repository_owner }}/ros:${{ matrix.ros_distro }}-debian
+          tags: ghcr.io/${{ github.repository_owner }}/ros:${{ steps.image_meta.outputs.image_tag }}
+          cache-from: type=gha,scope=debian-${{ matrix.ros_distro }}
+          cache-to: type=gha,scope=debian-${{ matrix.ros_distro }},mode=max
           build-args: |
             ROS_DISTRO=${{ matrix.ros_distro }}
             SOURCE_PACKAGES=${{ matrix.source_packages }}
@@ -68,3 +83,4 @@ jobs:
       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$'
       ref_for_scheduled_build: master
+      docker_image_tag_suffix: ${{ github.event_name == 'pull_request' && format('-pr-{0}', github.event.pull_request.number) || '' }}
diff --git a/.github/workflows/build_and_publish_rhel_docker.yaml b/.github/workflows/build_and_publish_rhel_docker.yaml
@@ -3,6 +3,10 @@ name: Build and publish RHEL docker images
 
 on:
   workflow_dispatch:
+  push:
+    paths:
+      - '.github/workflows/build_and_publish_rhel_docker.yaml'
+      - 'ros2_rhel/**'
   pull_request:
     paths:
       - '.github/workflows/build_and_publish_rhel_docker.yaml'
@@ -40,17 +44,28 @@ jobs:
     steps:
       - uses: actions/checkout@v6
       - uses: docker/setup-buildx-action@v3
+      - 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=${{ matrix.ros_distro }}-rhel${tag_suffix}" >> "$GITHUB_OUTPUT"
       - uses: docker/login-action@v3
         with:
           registry: ghcr.io
           username: ${{ github.repository_owner }}
           password: ${{ secrets.GITHUB_TOKEN }}
-      - uses: docker/build-push-action@v6
+      - name: Build and push image
+        uses: docker/build-push-action@v6
         with:
           context: ros2_rhel
           push: true
           file: ros2_rhel/Dockerfile.${{ matrix.rhel_version }}
-          tags: ghcr.io/${{ github.repository_owner }}/ros:${{ matrix.ros_distro }}-rhel
+          tags: ghcr.io/${{ github.repository_owner }}/ros:${{ steps.image_meta.outputs.image_tag }}
+          cache-from: type=gha,scope=rhel-${{ matrix.ros_distro }}
+          cache-to: type=gha,scope=rhel-${{ matrix.ros_distro }},mode=max
           build-args: |
             ROS_DISTRO=${{ matrix.ros_distro }}
             SOURCE_PACKAGES=${{ matrix.source_packages }}
@@ -67,3 +82,4 @@ jobs:
       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$'
       ref_for_scheduled_build: master
+      docker_image_tag_suffix: ${{ github.event_name == 'pull_request' && format('-pr-{0}', github.event.pull_request.number) || '' }}
diff --git a/.github/workflows/build_and_publish_ubuntu_docker.yaml b/.github/workflows/build_and_publish_ubuntu_docker.yaml
@@ -3,6 +3,10 @@ name: Build and publish Ubuntu docker images
 
 on:
   workflow_dispatch:
+  push:
+    paths:
+      - '.github/workflows/build_and_publish_ubuntu_docker.yaml'
+      - 'ros2_ubuntu/**'
   pull_request:
     paths:
       - '.github/workflows/build_and_publish_ubuntu_docker.yaml'
@@ -52,17 +56,32 @@ jobs:
     steps:
       - uses: actions/checkout@v6
       - uses: docker/setup-buildx-action@v3
+      - 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
+          if [ "${{ matrix.ros-repo-packages }}" = "-testing" ]; then
+            echo "image_tag=${{ matrix.ros_distro }}-ubuntu-testing${tag_suffix}" >> "$GITHUB_OUTPUT"
+          else
+            echo "image_tag=${{ matrix.ros_distro }}-ubuntu${tag_suffix}" >> "$GITHUB_OUTPUT"
+          fi
       - uses: docker/login-action@v3
         with:
           registry: ghcr.io
           username: ${{ github.repository_owner }}
           password: ${{ secrets.GITHUB_TOKEN }}
-      - uses: docker/build-push-action@v6
+      - name: Build and push image
+        uses: docker/build-push-action@v6
         with:
           context: ros2_ubuntu
           push: true
           file: ros2_ubuntu/Dockerfile
-          tags: ghcr.io/${{ github.repository_owner }}/ros:${{ matrix.ros_distro }}-ubuntu${{ matrix.ros-repo-packages }}
+          tags: ghcr.io/${{ github.repository_owner }}/ros:${{ steps.image_meta.outputs.image_tag }}
+          cache-from: type=gha,scope=ubuntu-${{ matrix.ros_distro }}${{ matrix.ros-repo-packages }}
+          cache-to: type=gha,scope=ubuntu-${{ matrix.ros_distro }}${{ matrix.ros-repo-packages }},mode=max
           build-args: |
             FROM=${{ matrix.base_image }}
             ROS_DISTRO=${{ matrix.ros_distro }}
@@ -81,6 +100,7 @@ jobs:
       ros_repo: ${{ matrix.ROS_REPO }}
       target_workspace: ros_controls.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: master
+      docker_image_tag_suffix: ${{ github.event_name == 'pull_request' && format('-pr-{0}', github.event.pull_request.number) || '' }}
 
   compatibility-stack-build:
     needs: build_images
@@ -95,3 +115,4 @@ jobs:
       ros_repo: ${{ matrix.ROS_REPO }}
       target_workspace: ros_controls.rolling-on-${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: master
+      docker_image_tag_suffix: ${{ github.event_name == 'pull_request' && format('-pr-{0}', github.event.pull_request.number) || '' }}
diff --git a/.github/workflows/cleanup_pr_docker_images.yaml b/.github/workflows/cleanup_pr_docker_images.yaml
@@ -0,0 +1,43 @@
+---
+name: Cleanup PR-tagged docker images
+
+on:
+  pull_request:
+    types: [closed]
+  workflow_dispatch:
+    inputs:
+      pr_number:
+        description: 'PR number to clean up (required for manual runs)'
+        required: false
+        type: string
+
+concurrency:
+  group: cleanup-pr-images-${{ github.event.pull_request.number || inputs.pr_number || github.run_id }}
+  cancel-in-progress: false
+
+jobs:
+  cleanup-pr-images:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      packages: write
+    steps:
+      - name: Resolve PR number
+        id: resolve_pr
+        shell: bash
+        run: |
+          PR_NUMBER="${{ github.event.pull_request.number || inputs.pr_number }}"
+          if [[ -z "$PR_NUMBER" ]]; then
+            echo "No PR number provided. Set workflow_dispatch input 'pr_number' or run on pull_request.closed."
+            exit 1
+          fi
+          echo "pr_number=$PR_NUMBER" >> "$GITHUB_OUTPUT"
+      - name: Delete PR-tagged GHCR versions
+        uses: dataaxiom/ghcr-cleanup-action@v1
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
+          owner: ${{ github.repository_owner }}
+          repository: ${{ github.event.repository.name }}
+          packages: ros
+          delete-tags: '*-pr-${{ steps.resolve_pr.outputs.pr_number }}'
+          delete-untagged: false
diff --git a/.github/workflows/reusable-debian-build.yml b/.github/workflows/reusable-debian-build.yml
@@ -49,6 +49,11 @@ on:
         default: ""
         required: false
         type: string
+      docker_image_tag_suffix:
+        description: 'Optional suffix appended to the docker tag, e.g. -pr-123'
+        default: ''
+        required: false
+        type: string
 
 
 jobs:
@@ -63,7 +68,7 @@ jobs:
       target_path: target_ws/src/${{ github.repository }}
       CCACHE_DIR: ${{ github.workspace }}/${{ inputs.ccache_dir }}
       CACHE_PREFIX: ${{ inputs.ros_distro }}-${{ inputs.upstream_workspace }}-${{ inputs.target_workspace }}-${{ github.job }}
-    container: ghcr.io/ros-controls/ros:${{ inputs.ros_distro }}-debian
+    container: ghcr.io/ros-controls/ros:${{ inputs.ros_distro }}-debian${{ inputs.docker_image_tag_suffix }}
     steps:
       - name: Checkout default ref when build is not scheduled
         if: ${{ github.event_name != 'schedule' }}
diff --git a/.github/workflows/reusable-industrial-ci-with-cache.yml b/.github/workflows/reusable-industrial-ci-with-cache.yml
@@ -82,6 +82,11 @@ on:
         default: 'rmw_cyclonedds_cpp'
         required: false
         type: string
+      docker_image_tag_suffix:
+        description: 'Optional suffix appended to the docker tag, e.g. -pr-123'
+        default: ''
+        required: false
+        type: string
 
 
 jobs:
@@ -114,9 +119,9 @@ jobs:
         id: docker_image
         run: |
           if [ "${{ inputs.ros_repo }}" = "main" ]; then
-            echo "DOCKER_IMAGE=ghcr.io/ros-controls/ros:${{ inputs.ros_distro }}-ubuntu" >> $GITHUB_OUTPUT
+            echo "DOCKER_IMAGE=ghcr.io/ros-controls/ros:${{ inputs.ros_distro }}-ubuntu${{ inputs.docker_image_tag_suffix }}" >> $GITHUB_OUTPUT
           else
-            echo "DOCKER_IMAGE=ghcr.io/ros-controls/ros:${{ inputs.ros_distro }}-ubuntu-testing" >> $GITHUB_OUTPUT
+            echo "DOCKER_IMAGE=ghcr.io/ros-controls/ros:${{ inputs.ros_distro }}-ubuntu-testing${{ inputs.docker_image_tag_suffix }}" >> $GITHUB_OUTPUT
           fi
       - uses: 'ros-industrial/industrial_ci@master'
         env:
diff --git a/.github/workflows/reusable-rhel-binary-build.yml b/.github/workflows/reusable-rhel-binary-build.yml
@@ -52,13 +52,18 @@ on:
         default: ""
         required: false
         type: string
+      docker_image_tag_suffix:
+        description: 'Optional suffix appended to the docker tag, e.g. -pr-123'
+        default: ''
+        required: false
+        type: string
 
 jobs:
   rhel_binary:
     name: ${{ inputs.ros_distro }} RHEL build
     if: ${{ !(github.event_name == 'pull_request' && contains(join(github.event.pull_request.labels.*.name, ','), 'conflicts')) }}
     runs-on: ubuntu-latest
-    container: ghcr.io/ros-controls/ros:${{ inputs.ros_distro }}-rhel
+    container: ghcr.io/ros-controls/ros:${{ inputs.ros_distro }}-rhel${{ inputs.docker_image_tag_suffix }}
     env:
       target_ws: target_ws
       upstream_ws: upstream_ws
