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christophfroehlichchristophfroehlich
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Improve docker workflows and add rhel + debian stack build (#682)
* Split upstream and target workspace * Add stack build for debian and rhel * Use working-directory instead of base paths arguments * Add ccache * Skip mujoco and gz packages * fix(rhel8): enable powertools before installing ccache * Don't trigger stack builds if images will change * Fix step gate * Also skip ros2_control_demo_example_9 * Checkout repo in job * Add concurrency settings * Fix action input parser * Also skip ros2_control_demos meta package * Enable caching and dont replace default tags on PRs * Fix push event * Set the labels from the build-push-action instead * Run stack builds only on pull_requests * Deactivate provenance and sbom * Also exlcude ign_ packages * Cleanup labels in dockerfiles because setting it from the build action * Disable cache-from on schedule * Add ign_ros2_control to skip packages
1 parent f9bb74b commit 30847df

22 files changed

+729
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lines changed

‎.github/actions/stack-build-gate/action.yml‎

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name: "Stack Build Gate"
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description: "Determine whether stack build should be skipped on pull requests based on changed paths."
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inputs:
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blocked_paths:
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description: "Multiline list of paths/globs that should block stack build when changed."
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required: true
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outputs:
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skip_stack_build:
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description: "true when stack build should be skipped"
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value: ${{ steps.compute.outputs.skip_stack_build }}
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runs:
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using: "composite"
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steps:
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# blocked_paths is passed as multiline text from callers. We cannot inject it directly
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# into the YAML mapping expected by dorny/paths-filter, so we normalize it here into
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# a valid YAML list under the "blocked" filter.
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- name: Prepare filters
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if: ${{ github.event_name == 'pull_request' }}
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id: prepare
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shell: bash
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run: |
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FILTERS="blocked:"
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while IFS= read -r raw_line; do
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line="${raw_line#${raw_line%%[![:space:]]*}}"
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if [[ -z "$line" ]]; then
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continue
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fi
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if [[ "$line" == -* ]]; then
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line="${line#-}"
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line="${line#${line%%[![:space:]]*}}"
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fi
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if [[ "$line" =~ ^\'.*\'$ ]]; then
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line="${line#\'}"
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line="${line%\'}"
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elif [[ "$line" =~ ^\".*\"$ ]]; then
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line="${line#\"}"
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line="${line%\"}"
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fi
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FILTERS+=$'\n'" - ${line}"
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done <<< "${{ inputs.blocked_paths }}"
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{
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echo "filters<<EOF"
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echo "$FILTERS"
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echo "EOF"
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} >> "$GITHUB_OUTPUT"
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- name: Check changed files
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if: ${{ github.event_name == 'pull_request' }}
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id: filter
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uses: dorny/paths-filter@v3
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with:
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filters: ${{ steps.prepare.outputs.filters }}
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- name: Compute gate result
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id: compute
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shell: bash
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run: |
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if [[ "${{ github.event_name }}" == "pull_request" && "${{ steps.filter.outputs.blocked }}" == "true" ]]; then
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echo "skip_stack_build=true" >> "$GITHUB_OUTPUT"
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else
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echo "skip_stack_build=false" >> "$GITHUB_OUTPUT"
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fi

‎.github/workflows/build_and_publish_debian_docker.yaml‎

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Original file line numberDiff line numberDiff line change
@@ -3,13 +3,24 @@ name: Build and publish debian docker images
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on:
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workflow_dispatch:
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push:
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branches:
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- master
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paths:
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- '.github/workflows/build_and_publish_debian_docker.yaml'
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- 'ros2_debian/**'
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pull_request:
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paths:
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- '.github/workflows/build_and_publish_debian_docker.yaml'
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- 'ros2_debian/**'
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schedule:
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- cron: '0 1 * * MON'
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concurrency:
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# cancel previous runs of the same workflow, except for pushes on given branches
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group: ${{ github.workflow }}-${{ github.ref }}
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cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
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jobs:
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build_images:
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runs-on: ubuntu-latest
@@ -36,17 +47,49 @@ jobs:
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steps:
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- uses: actions/checkout@v6
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- uses: docker/setup-buildx-action@v3
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- name: Set image tag
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id: image_meta
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run: |
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tag_suffix=""
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if [ "${{ github.event_name }}" = "pull_request" ]; then
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tag_suffix="-pr-${{ github.event.pull_request.number }}"
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fi
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echo "image_tag=${{ matrix.ros_distro }}-debian${tag_suffix}" >> "$GITHUB_OUTPUT"
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- uses: docker/login-action@v3
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with:
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registry: ghcr.io
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username: ${{ github.repository_owner }}
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password: ${{ secrets.GITHUB_TOKEN }}
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- uses: docker/build-push-action@v6
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- name: Build and push image
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uses: docker/build-push-action@v6
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with:
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context: ros2_debian
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push: true
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provenance: false
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sbom: false
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file: ros2_debian/Dockerfile.${{ matrix.debian_version }}
49-
tags: ghcr.io/${{ github.repository_owner }}/ros:${{ matrix.ros_distro }}-debian
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tags: ghcr.io/${{ github.repository_owner }}/ros:${{ steps.image_meta.outputs.image_tag }}
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labels: |
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org.opencontainers.image.source=https://github.com/ros-controls/ros2_control_ci
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org.opencontainers.image.description=${{ matrix.debian_version }} for ros-controls CI
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org.opencontainers.image.licenses=Apache-2.0
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cache-from: ${{ github.event_name != 'schedule' && format('type=gha,scope=debian-{0}', matrix.ros_distro) || '' }}
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cache-to: type=gha,scope=debian-${{ matrix.ros_distro }},mode=max
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build-args: |
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ROS_DISTRO=${{ matrix.ros_distro }}
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SOURCE_PACKAGES=${{ matrix.source_packages }}
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stack-build:
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if: ${{ github.event_name == 'pull_request' }}
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needs: build_images
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uses: ./.github/workflows/reusable-debian-build.yml
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strategy:
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fail-fast: false
88+
matrix:
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ROS_DISTRO: [rolling, humble, jazzy, kilted]
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with:
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ros_distro: ${{ matrix.ROS_DISTRO }}
92+
target_workspace: ros_controls.${{ matrix.ROS_DISTRO }}.repos
93+
skip_packages_regex: '^mujoco_ros2_control.*$|^gz_ros2_control.*$|^ros2_control_demo_example_9$|^ros2_control_demos$|^ign_ros2_control.*$'
94+
ref_for_scheduled_build: master
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docker_image_tag_suffix: ${{ format('-pr-{0}', github.event.pull_request.number) }}

‎.github/workflows/build_and_publish_rhel_docker.yaml‎

Lines changed: 45 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -3,13 +3,24 @@ name: Build and publish RHEL docker images
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on:
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workflow_dispatch:
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push:
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branches:
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- master
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paths:
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- '.github/workflows/build_and_publish_rhel_docker.yaml'
11+
- 'ros2_rhel/**'
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pull_request:
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paths:
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- '.github/workflows/build_and_publish_rhel_docker.yaml'
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- 'ros2_rhel/**'
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schedule:
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- cron: '1 0 * * MON'
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concurrency:
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# cancel previous runs of the same workflow, except for pushes on given branches
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group: ${{ github.workflow }}-${{ github.ref }}
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cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
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1324
jobs:
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build_images:
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runs-on: ubuntu-latest
@@ -35,17 +46,49 @@ jobs:
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steps:
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- uses: actions/checkout@v6
3748
- uses: docker/setup-buildx-action@v3
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- name: Set image tag
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id: image_meta
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run: |
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tag_suffix=""
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if [ "${{ github.event_name }}" = "pull_request" ]; then
54+
tag_suffix="-pr-${{ github.event.pull_request.number }}"
55+
fi
56+
echo "image_tag=${{ matrix.ros_distro }}-rhel${tag_suffix}" >> "$GITHUB_OUTPUT"
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- uses: docker/login-action@v3
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with:
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registry: ghcr.io
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username: ${{ github.repository_owner }}
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password: ${{ secrets.GITHUB_TOKEN }}
43-
- uses: docker/build-push-action@v6
62+
- name: Build and push image
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uses: docker/build-push-action@v6
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with:
4565
context: ros2_rhel
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push: true
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provenance: false
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sbom: false
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file: ros2_rhel/Dockerfile.${{ matrix.rhel_version }}
48-
tags: ghcr.io/${{ github.repository_owner }}/ros:${{ matrix.ros_distro }}-rhel
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tags: ghcr.io/${{ github.repository_owner }}/ros:${{ steps.image_meta.outputs.image_tag }}
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labels: |
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org.opencontainers.image.source=https://github.com/ros-controls/ros2_control_ci
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org.opencontainers.image.description=${{ matrix.rhel_version }} for ros-controls CI
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org.opencontainers.image.licenses=Apache-2.0
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cache-from: ${{ github.event_name != 'schedule' && format('type=gha,scope=rhel-{0}', matrix.ros_distro) || '' }}
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cache-to: type=gha,scope=rhel-${{ matrix.ros_distro }},mode=max
4977
build-args: |
5078
ROS_DISTRO=${{ matrix.ros_distro }}
5179
SOURCE_PACKAGES=${{ matrix.source_packages }}
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81+
stack-build:
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if: ${{ github.event_name == 'pull_request' }}
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needs: build_images
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uses: ./.github/workflows/reusable-rhel-binary-build.yml
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strategy:
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fail-fast: false
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matrix:
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ROS_DISTRO: [rolling, humble, jazzy, kilted]
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with:
90+
ros_distro: ${{ matrix.ROS_DISTRO }}
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target_workspace: ros_controls.${{ matrix.ROS_DISTRO }}.repos
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skip_packages_regex: '^mujoco_ros2_control.*$|^gz_ros2_control.*$|^ros2_control_demo_example_9$|^ros2_control_demos$|^ign_ros2_control.*$'
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ref_for_scheduled_build: master
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docker_image_tag_suffix: ${{ format('-pr-{0}', github.event.pull_request.number) }}

‎.github/workflows/build_and_publish_ubuntu_docker.yaml‎

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@@ -3,13 +3,24 @@ name: Build and publish Ubuntu docker images
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on:
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workflow_dispatch:
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push:
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branches:
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- master
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paths:
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- '.github/workflows/build_and_publish_ubuntu_docker.yaml'
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- 'ros2_ubuntu/**'
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pull_request:
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paths:
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- '.github/workflows/build_and_publish_ubuntu_docker.yaml'
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- 'ros2_ubuntu/**'
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schedule:
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- cron: '1 2 * * MON'
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concurrency:
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# cancel previous runs of the same workflow, except for pushes on given branches
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group: ${{ github.workflow }}-${{ github.ref }}
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cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
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1324
jobs:
1425
build_images:
1526
runs-on: ubuntu-latest
@@ -47,23 +58,45 @@ jobs:
4758
steps:
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- uses: actions/checkout@v6
4960
- uses: docker/setup-buildx-action@v3
61+
- name: Set image tag
62+
id: image_meta
63+
run: |
64+
tag_suffix=""
65+
if [ "${{ github.event_name }}" = "pull_request" ]; then
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tag_suffix="-pr-${{ github.event.pull_request.number }}"
67+
fi
68+
if [ "${{ matrix.ros-repo-packages }}" = "-testing" ]; then
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echo "image_tag=${{ matrix.ros_distro }}-ubuntu-testing${tag_suffix}" >> "$GITHUB_OUTPUT"
70+
else
71+
echo "image_tag=${{ matrix.ros_distro }}-ubuntu${tag_suffix}" >> "$GITHUB_OUTPUT"
72+
fi
5073
- uses: docker/login-action@v3
5174
with:
5275
registry: ghcr.io
5376
username: ${{ github.repository_owner }}
5477
password: ${{ secrets.GITHUB_TOKEN }}
55-
- uses: docker/build-push-action@v6
78+
- name: Build and push image
79+
uses: docker/build-push-action@v6
5680
with:
5781
context: ros2_ubuntu
5882
push: true
83+
provenance: false
84+
sbom: false
5985
file: ros2_ubuntu/Dockerfile
60-
tags: ghcr.io/${{ github.repository_owner }}/ros:${{ matrix.ros_distro }}-ubuntu${{ matrix.ros-repo-packages }}
86+
tags: ghcr.io/${{ github.repository_owner }}/ros:${{ steps.image_meta.outputs.image_tag }}
87+
labels: |
88+
org.opencontainers.image.source=https://github.com/ros-controls/ros2_control_ci
89+
org.opencontainers.image.description=${{ matrix.base_image }} with preinstalled ROS for ros-controls CI
90+
org.opencontainers.image.licenses=Apache-2.0
91+
cache-from: ${{ github.event_name != 'schedule' && format('type=gha,scope=ubuntu-{0}{1}', matrix.ros_distro, matrix.ros-repo-packages) || '' }}
92+
cache-to: type=gha,scope=ubuntu-${{ matrix.ros_distro }}${{ matrix.ros-repo-packages }},mode=max
6193
build-args: |
6294
FROM=${{ matrix.base_image }}
6395
ROS_DISTRO=${{ matrix.ros_distro }}
6496
ROS_REPO_PACKAGES=${{ matrix.ros-repo-packages }}
6597
6698
stack-build:
99+
if: ${{ github.event_name == 'pull_request' }}
67100
needs: build_images
68101
uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
69102
strategy:
@@ -76,8 +109,10 @@ jobs:
76109
ros_repo: ${{ matrix.ROS_REPO }}
77110
target_workspace: ros_controls.${{ matrix.ROS_DISTRO }}.repos
78111
ref_for_scheduled_build: master
112+
docker_image_tag_suffix: ${{ format('-pr-{0}', github.event.pull_request.number) }}
79113

80114
compatibility-stack-build:
115+
if: ${{ github.event_name == 'pull_request' }}
81116
needs: build_images
82117
uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
83118
strategy:
@@ -90,3 +125,4 @@ jobs:
90125
ros_repo: ${{ matrix.ROS_REPO }}
91126
target_workspace: ros_controls.rolling-on-${{ matrix.ROS_DISTRO }}.repos
92127
ref_for_scheduled_build: master
128+
docker_image_tag_suffix: ${{ format('-pr-{0}', github.event.pull_request.number) }}

‎.github/workflows/cleanup_pr_docker_images.yaml‎

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---
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name: Cleanup PR-tagged docker images
3+
4+
on:
5+
pull_request:
6+
types: [closed]
7+
workflow_dispatch:
8+
inputs:
9+
pr_number:
10+
description: 'PR number to clean up (required for manual runs)'
11+
required: false
12+
type: string
13+
14+
concurrency:
15+
group: cleanup-pr-images-${{ github.event.pull_request.number || inputs.pr_number || github.run_id }}
16+
cancel-in-progress: false
17+
18+
jobs:
19+
cleanup-pr-images:
20+
runs-on: ubuntu-latest
21+
permissions:
22+
contents: read
23+
packages: write
24+
steps:
25+
- name: Resolve PR number
26+
id: resolve_pr
27+
shell: bash
28+
run: |
29+
PR_NUMBER="${{ github.event.pull_request.number || inputs.pr_number }}"
30+
if [[ -z "$PR_NUMBER" ]]; then
31+
echo "No PR number provided. Set workflow_dispatch input 'pr_number' or run on pull_request.closed."
32+
exit 1
33+
fi
34+
echo "pr_number=$PR_NUMBER" >> "$GITHUB_OUTPUT"
35+
- name: Delete PR-tagged GHCR versions
36+
uses: dataaxiom/ghcr-cleanup-action@v1
37+
with:
38+
token: ${{ secrets.GITHUB_TOKEN }}
39+
owner: ${{ github.repository_owner }}
40+
repository: ${{ github.event.repository.name }}
41+
packages: ros
42+
delete-tags: '*-pr-${{ steps.resolve_pr.outputs.pr_number }}'
43+
delete-untagged: false

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