From f45369f81014cf5f7be0e22e9924eb964da74127 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Wed, 16 Oct 2024 12:43:49 +0200
Subject: [PATCH] Allow selection of CPU architecture for build

---
 .github/workflows/build.yaml       |  9 +++++++--
 .github/workflows/interactive.yaml |  9 +++++++++
 src/env.sh                         | 13 ++++++++++++-
 src/scripts/prepare.sh             |  2 ++
 4 files changed, 30 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index e41b01a7..3f37a2e1 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -11,8 +11,13 @@ on:
         required: false # defaults to 'one'
       DEB_DISTRO:
         type: string
-        description: The Debian/Ubuntu distribution codename to compile for.
+        description: The Debian/Ubuntu distribution codename to compile for
         required: false  # defaults to 'lsb_release -cs'
+      ARCH:
+        type: string
+        required: false
+        description: CPU architecture
+        default: x64
       ROS_SOURCES:
         type: string
         description: ROS sources to compile. See README.md for details.
@@ -118,7 +123,7 @@ env:
 
 jobs:
   debs:
-    runs-on: ubuntu-22.04
+    runs-on: ${{ inputs.ARCH  == 'x64' && 'ubuntu-22.04' || inputs.ARCH }}
     name: build debs
     outputs:
       LATEST_PACKAGE: ${{ steps.build.outputs.LATEST_PACKAGE }}
diff --git a/.github/workflows/interactive.yaml b/.github/workflows/interactive.yaml
index 8aa0d5fd..b803e788 100644
--- a/.github/workflows/interactive.yaml
+++ b/.github/workflows/interactive.yaml
@@ -19,6 +19,14 @@ on:
         required: true
         description: 'ROS distribution codename:'
         default: one
+      ARCH:
+        type: choice
+        required: true
+        description: 'Architecture:'
+        default: x64
+        options:
+          - x64
+          - arm64
 
       # source selection
       ROS_SOURCES:
@@ -60,6 +68,7 @@ jobs:
     with:
       DEB_DISTRO: ${{ inputs.DEB_DISTRO || vars.DEB_DISTRO }}
       ROS_DISTRO: ${{ inputs.ROS_DISTRO || vars.ROS_DISTRO || 'one' }}
+      ARCH: ${{ inputs.ARCH || vars.ARCH || 'x64' }}
       ROS_SOURCES: ${{ inputs.ROS_SOURCES || vars.ROS_SOURCES }}
       INSTALL_GPG_KEYS: |
         sudo curl -sSL https://ros.packages.techfak.net/gpg.key -o /etc/apt/keyrings/ros-one-keyring.gpg
diff --git a/src/env.sh b/src/env.sh
index 0d9c2925..4512816d 100644
--- a/src/env.sh
+++ b/src/env.sh
@@ -79,7 +79,18 @@ if debian-distro-info --all | grep -q "$DEB_DISTRO"; then
 
 elif ubuntu-distro-info --all | grep -q "$DEB_DISTRO"; then
 	export DISTRIBUTION=ubuntu
-	export DISTRIBUTION_REPO=http://azure.archive.ubuntu.com/ubuntu
+	case "$(dpkg --print-architecture)" in
+		amd64)
+			export DISTRIBUTION_REPO=http://archive.ubuntu.com/ubuntu
+			;;
+		arm64,armhf)
+			export DISTRIBUTION_REPO=http://ports.ubuntu.com/ubuntu-ports
+			;;
+		*)
+			gha_error "Unknown architecture: $ARCH"
+			ici_exit 1
+			;;
+	esac
 else
 	gha_error "Unknown DEB_DISTRO: $DEB_DISTRO"
 	ici_exit 1
diff --git a/src/scripts/prepare.sh b/src/scripts/prepare.sh
index 99971719..1151654d 100755
--- a/src/scripts/prepare.sh
+++ b/src/scripts/prepare.sh
@@ -44,6 +44,8 @@ ici_timed "Install bloom" ici_asroot pip install -U git+https://github.com/rhasc
 # Install patched vcstool to allow for treeless clones
 ici_timed "Install vcstool" ici_asroot pip install -U git+https://github.com/rhaschke/vcstool.git@master
 
+# remove existing rosdep config to avoid conflicts with rosdep init
+ici_asroot rm -f /etc/ros/rosdep/sources.list.d/20-default.list
 ici_timed "rosdep init" ici_asroot rosdep init
 
 # Start apt-cacher-ng if not yet running (for example in docker)