Update deployment workflows

.github/workflows/melodic.yml → .github/workflows/cd.yml

@@ -1,25 +1,12 @@
 # This is a basic workflow to help you get started with Actions
 
-name: Melodic
+name: Binary Deployment
 
 # Controls when the action will run. 
 on:
-  # Triggers the workflow on push or pull request events but only for the main branch
   push:
-    branches: [ main ]
-    paths-ignore: 
-      - '**/README.md'
-      - '**/HOWTO.md'
-      - '**/DEVELOPMENT.md'
-      - '**/FAQ.md'
-  pull_request:
-    branches: [ main ]
-
-  schedule:
-    - cron:  '0 0 * * *' # at the end of every day
-
-  # Allows you to run this workflow manually from the Actions tab
-  workflow_dispatch:
+    tags:
+      - '[v]?[0-9]+.[0-9]+.[0-9]+'
 
 # A workflow run is made up of one or more jobs that can run sequentially or in parallel
 jobs:
@@ -34,29 +21,44 @@ jobs:
           access_token: ${{ github.token }}
 
   deploy:
-
     # The type of runner that the job will run on
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     needs: cancel
     if: github.event_name != 'pull_request' 
+    strategy:
+      matrix:
+        distro: [bionic, focal]
     steps:
+      - name: Setup SSH Keys and known_hosts
+        env:
+          SSH_AUTH_SOCK: /tmp/ssh_agent.sock
+        run: |
+          ssh-agent -a $SSH_AUTH_SOCK > /dev/null
+          ssh-add - <<< "${{ secrets.SSH_PRIVATE_KEY }}"
       -
         name: Set up QEMU
-        uses: docker/setup-qemu-action@v1
+        uses: docker/setup-qemu-action@v3
       -
         name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v1
+        uses: docker/setup-buildx-action@v3
       -
         name: Login to DockerHub
-        uses: docker/login-action@v1
+        uses: docker/login-action@v3
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_PASSWORD }}
       -
         name: Build and push
         id: docker_build
-        uses: docker/build-push-action@v2
+        uses: docker/build-push-action@v5
+        env:
+          SSH_AUTH_SOCK: /tmp/ssh_agent.sock
         with:
-          file: Dockerfile.bionic
-          push: true 
-          tags: lmark1/uav_ros_simulation:bionic
+          file: Dockerfile.binary
+          push: true
+          tags: lmark1/uav_ros_simulation:${{ matrix.distro }}-bin-${{ github.ref_name }}
+          build-args: |
+            DISTRO=${{ matrix.distro }}
+            VERSION=${{ github.ref_name }}
+            --ssh=default
+    

.github/workflows/noetic.yml → .github/workflows/ci.yml

@@ -1,6 +1,6 @@
 # This is a basic workflow to help you get started with Actions
 
-name: Noetic
+name: CI/CD
 
 # Controls when the action will run. 
 on:
@@ -9,15 +9,10 @@ on:
     branches: [ main ]
     paths-ignore: 
       - '**/README.md'
-      - '**/HOWTO.md'
       - '**/DEVELOPMENT.md'
-      - '**/FAQ.md'
   pull_request:
     branches: [ main ]
 
-  schedule:
-    - cron:  '0 0 * * *' # at the end of every day
-
   # Allows you to run this workflow manually from the Actions tab
   workflow_dispatch:
 
@@ -35,20 +30,33 @@ jobs:
 
   # This workflow contains a single job called "build"
   build:
-
     # The type of runner that the job will run on
     runs-on: ubuntu-20.04
     needs: cancel
+
     env: 
       CATKIN_WORKSPACE: uav_ws
-
+      
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
       # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0 # fetch the whole history
+
+      # Use ssh key in private repository
+      # https://www.webfactory.de/blog/use-ssh-key-for-private-repositories-in-github-actions
+      - name: Setup SSH Keys and known_hosts
+        env:
+          SSH_AUTH_SOCK: /tmp/ssh_agent.sock
+        run: |
+          ssh-agent -a $SSH_AUTH_SOCK > /dev/null
+          ssh-add - <<< "${{ secrets.SSH_PRIVATE_KEY }}"
 
       # Runs a single command using the runners shell
       - name: Install
+        env:
+          SSH_AUTH_SOCK: /tmp/ssh_agent.sock
         run: ./.ci/ci_before_install.sh
 
       # Runs a set of commands using the runners shell
@@ -60,57 +68,44 @@ jobs:
         run: ./.ci/ci_run_tests.sh
 
   deploy:
-
-    # The type of runner that the job will run on
-    runs-on: ubuntu-20.04
-    needs: build
-    if: github.event_name != 'pull_request' 
-    steps:
-      -
-        name: Set up QEMU
-        uses: docker/setup-qemu-action@v1
-      -
-        name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v1
-      -
-        name: Login to DockerHub
-        uses: docker/login-action@v1
-        with:
-          username: ${{ secrets.DOCKERHUB_USERNAME }}
-          password: ${{ secrets.DOCKERHUB_PASSWORD }}
-      -
-        name: Build and push
-        id: docker_build
-        uses: docker/build-push-action@v2
-        with:
-          file: Dockerfile.focal
-          push: true
-          tags: lmark1/uav_ros_simulation:focal
-
-  deploy-nogpu:
-
     # The type of runner that the job will run on
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     needs: build
     if: github.event_name != 'pull_request' 
+    strategy:
+      matrix:
+        distro: [bionic, focal]
     steps:
+      # Use ssh key in private repository
+      # https://www.webfactory.de/blog/use-ssh-key-for-private-repositories-in-github-actions
+      - name: Setup SSH Keys and known_hosts
+        env:
+          SSH_AUTH_SOCK: /tmp/ssh_agent.sock
+        run: |
+          ssh-agent -a $SSH_AUTH_SOCK > /dev/null
+          ssh-add - <<< "${{ secrets.SSH_PRIVATE_KEY }}"
       -
         name: Set up QEMU
-        uses: docker/setup-qemu-action@v1
+        uses: docker/setup-qemu-action@v3
       -
         name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v1
+        uses: docker/setup-buildx-action@v3
       -
         name: Login to DockerHub
-        uses: docker/login-action@v1
+        uses: docker/login-action@v3
         with:
-          username: ${{ secrets.DOCKERHUB_USERNAME }}
-          password: ${{ secrets.DOCKERHUB_PASSWORD }}
+          username: ${{ secrets.DOCKERHUB_USERNAME2 }}
+          password: ${{ secrets.DOCKERHUB_PASSWORD2 }}
       -
         name: Build and push
         id: docker_build
-        uses: docker/build-push-action@v2
+        uses: docker/build-push-action@v5
+        env:
+          SSH_AUTH_SOCK: /tmp/ssh_agent.sock
         with:
-          file: Dockerfile.focal-nogpu
+          file: Dockerfile.source
           push: true
-          tags: lmark1/uav_ros_simulation:focal-nogpu
+          tags: lmark2/uav_ros_simulation_source:${{ matrix.distro }}
+          build-args: |
+            DISTRO=${{ matrix.distro }} 
+            --ssh=default

CHANGELOG.rst

@@ -0,0 +1,11 @@
+Changelog
+=========
+
+Upcoming
+--------------
+- TODO
+
+v0.0.1 (22-12-2023)
+--------------
+
+- Initial Release

Dockerfile.binary

@@ -1,8 +1,11 @@
-FROM lmark1/uav_ros_stack:focal-bin-0.0.1
+ARG VERSION=0.0.1
+ARG DISTRO=focal
+
+FROM lmark1/uav_ros_stack:$DISTRO-bin-$VERSION
 
 # https://blog.alexellis.io/mutli-stage-docker-builds/ - Neat!
-FROM nvidia/opengl:1.2-glvnd-runtime-ubuntu20.04
-# FROM ubuntu:focal
+# FROM nvidia/opengl:1.2-glvnd-runtime-ubuntu20.04
+FROM ubuntu:$DISTRO
 
 # Use ARG - persists only during docker build
 # https://github.com/moby/moby/issues/4032#issuecomment-192327844

Dockerfile.focal → Dockerfile.source

@@ -3,9 +3,10 @@ FROM nvidia/opengl:1.2-glvnd-runtime-ubuntu20.04
 # Use ARG - persists only during docker build
 # https://github.com/moby/moby/issues/4032#issuecomment-192327844
 ARG CATKIN_WORKSPACE=uav_ws
-ARG DEBIAN_FRONTEND=noninteractive
 ARG HOME=/root
 ARG USER=root
+ENV DEBIAN_FRONTEND=noninteractive
+RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
 
 # Install all the things to stop docker build from breaking
 RUN ln -fs /usr/share/zoneinfo/Europe/Zagreb /etc/localtime && \
@@ -21,10 +22,13 @@ RUN ln -fs /usr/share/zoneinfo/Europe/Zagreb /etc/localtime && \
     keyboard-configuration && \
     dpkg-reconfigure --frontend noninteractive tzdata 
 
+# download public key for github.com
+RUN mkdir -p -m 0600 ~/.ssh && ssh-keyscan github.com >> ~/.ssh/known_hosts
+
 # Install uav_ros_simulation and setup catkin workspace
 WORKDIR $HOME
-RUN git clone https://github.com/larics/uav_ros_simulation.git
-RUN ./uav_ros_simulation/installation/install_and_setup_workspace.sh $CATKIN_WORKSPACE
+RUN --mount=type=ssh git clone git@github.com:larics/uav_ros_simulation.git
+RUN --mount=type=ssh ./uav_ros_simulation/installation/install_and_setup_workspace.sh $CATKIN_WORKSPACE
 
 # Build catkin workspace
 WORKDIR $HOME/$CATKIN_WORKSPACE/src

run_docker.sh

@@ -9,7 +9,7 @@ echo "Running Docker Container"
 CONTAINER_NAME=uav_ros_simulation
 
 # Get distro of the built image
-distro="focal"
+distro="focal-bin-0.0.1"
 run_args=""
 
 for (( i=1; i<=$#; i++));
@@ -64,5 +64,5 @@ docker run \
   --env DISPLAY=$DISPLAY \
   --env TERM=xterm-256color \
   --name $full_container_name \
-  lmark1/uav_ros_simulation:$distro \
+  uav_ros_simulation:focal-bin-0.0.1 \
   /bin/bash