Create a simple workflow example #4
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| name: Build a Docker Image First | |
| on: | |
| push: | |
| # Will trigger on MERGES (or pushes) to main branch. | |
| branches: | |
| - 'main' | |
| pull_request: | |
| # Will ALSO trigger any time a PR is opened merging to main. | |
| # Specify '*' here to merge on PRs being opened against ANY branch. | |
| branches: | |
| - 'main' | |
| # This creates environment variables that can be shared between all the jobs. | |
| env: | |
| # This will use docker.io for Dockerhub if empty, so we want to tell it to | |
| # use the github one (ghcr.io which stands for... GitHub Container Registry) | |
| REGISTRY: ghcr.io | |
| # Name the docker image after the repo: github.repository as <account>/<repo> | |
| IMAGE_NAME: ${{ github.repository }} | |
| jobs: | |
| # First we'll build the docker image in a separate job. Then we actually | |
| # build the code in a separate job. | |
| docker: | |
| runs-on: ubuntu-latest | |
| # Note that here we DON'T have a container because github refuses to allow | |
| # us to do docker-in-docker. So docker build runs natively on the machine. | |
| # The outputs tags gives us an output variabel that can be used in other | |
| # jobs. In this case, it's the name of the docker file. | |
| outputs: | |
| docker_image_name: ${{ steps.meta.outputs.tags }} | |
| steps: | |
| - name: Check out repository | |
| # We still need to do this to actually build the docker file. | |
| uses: actions/checkout@v3 | |
| - name: Set up Docker Buildx | |
| uses: docker/setup-buildx-action@v2 | |
| - name: Log into registry ${{ env.REGISTRY }} | |
| # Github pre-populates all of these for you! So you don't have to do | |
| # anything fancy. Just make sure the env.REGISTRY is set to ghcr.io | |
| uses: docker/login-action@v2 | |
| with: | |
| registry: ${{ env.REGISTRY }} | |
| username: ${{ github.actor }} | |
| password: ${{ secrets.GITHUB_TOKEN }} | |
| - name: Extract Docker metadata | |
| # This just figures out what to tag our docker file as. It's less | |
| # complicated than it looks, and you have a lot of flexibility in | |
| # how you build tags here. | |
| id: meta | |
| uses: docker/metadata-action@98669ae865ea3cffbcbaa878cf57c20bbf1c6c38 | |
| with: | |
| images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }} | |
| - name: Build and push docker | |
| uses: docker/build-push-action@v4 | |
| with: | |
| context: toy_example_package/docker/ | |
| file: toy_example_package/docker/Dockerfile | |
| push: true | |
| tags: ${{ steps.meta.outputs.tags }} | |
| labels: ${{ steps.meta.outputs.labels }} | |
| cache-from: type=gha | |
| cache-to: type=gha,mode=max | |
| # The name of the job is "build". All jobs run in SEPARATE containers, so | |
| # they may run on separate machines and have the workspace wiped inbetween. | |
| build: | |
| # You need to specify the dependency on the previous job (docker) here! | |
| needs: docker | |
| # Run on a github-hosted runner. To specify our own, select: | |
| # [self-hosted, linux] instead. | |
| runs-on: ubuntu-latest | |
| # This will now use the container we build above! The "needs" specifies that | |
| # this must be populated and finished by the other job before we can run. | |
| container: ${{ needs.docker.outputs.docker_image_name }} | |
| steps: | |
| # Name is optional, uses: specify which ACTION is used (basically github | |
| # macros). You can write your own! Use with: to specify extra parameters. | |
| - name: Check out repository | |
| uses: actions/checkout@v3 | |
| with: | |
| # This path is relative to ${GITHUB_WORKSPACE}. You can also use | |
| # "/${HOME}/" if you want but be sure to have the leading slash. | |
| path: catkin_ws/src/toy_example_package | |
| - name: Setup workspace & install ROS dependencies | |
| # We can skip the other setup steps now because it's all in the docker. | |
| run: | | |
| cd ${GITHUB_WORKSPACE}/catkin_ws | |
| catkin init | |
| catkin config --extend "/opt/ros/noetic" | |
| catkin config --merge-devel | |
| rosdep update | |
| rosdep install --from-paths src --ignore-src -y --rosdistro noetic | |
| catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release | |
| shell: bash | |
| - name: Catkin build | |
| # The working directory is reset for each individual run command, so just | |
| # be aware! | |
| run: | | |
| cd ${GITHUB_WORKSPACE}/catkin_ws | |
| catkin build --continue toy_example_package | |
| shell: bash |