feat(ci): add prebuilt modulo image akin to other internal ones (#36)

Co-authored-by: Enrico Eberhard <32450951+eeberhard@users.noreply.github.com>
Co-authored-by: Dominic Reber <71256590+domire8@users.noreply.github.com>

.github/workflows/build-release.yaml

@@ -0,0 +1,62 @@
+name: Build and Push Multi-Arch Images
+
+on:
+  push:
+    branches:
+      - develop
+      - main
+    tags:
+      - "v*.*.*"
+
+jobs:
+  get-tag:
+    runs-on: ubuntu-latest
+    name: Get tag
+    outputs:
+      tag: ${{ steps.parse-tag.outputs.tag }}
+    steps:
+      - uses: actions/checkout@v3
+      - uses: aica-technology/.github/.github/actions/docker-tag-from-git@v0.6.1
+        id: parse-tag
+
+  build:
+    needs: [get-tag]
+    strategy:
+      matrix:
+        arch: [amd64, arm64]
+        include:
+          # FIXME (#33): high memory usage during build
+          - image: ubuntu-latest
+          - image: buildjet-8vcpu-ubuntu-2204-arm
+            arch: arm64
+
+    runs-on: ${{ matrix.image }}
+    name: Build and publish (${{ matrix.arch }})
+    steps:
+      - uses: actions/checkout@v3
+
+      - uses: aica-technology/.github/.github/actions/list-add-suffixes@v0.6.0
+        id: merge-tags
+        with:
+          list: ${{ needs.get-tag.outputs.tag }}
+          suffixes: ${{ matrix.arch }}
+          glue_separator: "-"
+
+      - uses: aica-technology/.github/.github/actions/ghcr-build@v0.6.1
+        with:
+          image_name: aica-technology/modulo
+          image_tags: ${{ steps.merge-tags.outputs.list }}
+          dockerfile_path: Dockerfile.ci
+          token: ${{ secrets.GITHUB_TOKEN }}
+
+  multi-arch:
+    runs-on: ubuntu-latest
+    name: Merge into a multi-arch image
+    needs: [get-tag, build]
+    steps:
+      - uses: aica-technology/.github/.github/actions/ghcr-manifest-merge@v0.6.1
+        with:
+          image_name: aica-technology/modulo
+          image_tags: ${{ needs.get-tag.outputs.tag }}
+          archs: amd64,arm64
+          token: ${{ secrets.GITHUB_TOKEN }}

CHANGELOG.md

@@ -8,6 +8,7 @@ Release Versions:
 
 ## Upcoming changes (in development)
 
+- feat(ci): add prebuilt modulo image akin to other internal ones (#36)
 - Add and install component descriptions (#31)
 - Apply AICA C++ style guide (#30)
 - Add option to publish outputs manually instead of periodically (#23)

Dockerfile.ci

@@ -0,0 +1,37 @@
+#syntax=docker/dockerfile:1.4.0
+ARG CL_VERSION=v7.1.0
+ARG ROS2_VERSION=humble
+FROM ghcr.io/aica-technology/control-libraries:${CL_VERSION} as cl
+FROM ghcr.io/aica-technology/ros2-ws:${ROS2_VERSION} as base
+# setup the environment
+USER ${USER}
+ENV WORKSPACE ${HOME}/ws
+WORKDIR ${WORKSPACE}
+SHELL ["/bin/bash", "-l", "-c"]
+
+# create a workspace
+RUN source ${HOME}/ros2_ws/install/setup.bash && colcon build
+# source the new workspace on login
+RUN echo "source ${WORKSPACE}/install/setup.bash" | cat - ${HOME}/.bashrc > tmp && mv tmp ${HOME}/.bashrc
+# install deps
+COPY --from=cl / /
+# install sources
+COPY --chown=${USER}:${USER} ./source ${WORKSPACE}/src
+
+FROM base as development
+
+FROM base as build
+ARG TARGETPLATFORM
+RUN --mount=type=cache,target=./build,id=${TARGETPLATFORM},uid=1000 \
+  sudo apt-get update && rosdep update \
+  && rosdep install --from-paths src --ignore-src -r -y \
+  --skip-keys "ros2_control ros2_controllers controller_interface hardware_interface controller_manager" \
+  && sudo rm -rf /var/lib/apt/lists/* \
+  && colcon build
+
+FROM build as test
+ARG TARGETPLATFORM
+RUN --mount=type=cache,target=./build,id=${TARGETPLATFORM},uid=1000 colcon test
+
+FROM scratch as production
+COPY --from=build /home/ros2/ws/install /colcon

VERSION

@@ -1 +1 @@
-2.2.7
+2.2.8

doxygen/doxygen.conf

@@ -38,7 +38,7 @@ PROJECT_NAME           = "Modulo"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER = 2.2.7
+PROJECT_NUMBER = 2.2.8
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

source/modulo_component_interfaces/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>modulo_component_interfaces</name>
-  <version>2.2.7</version>
+  <version>2.2.8</version>
   <description>Interface package for communicating with modulo components through the ROS framework</description>
   <maintainer email="enrico@aica.tech">Enrico Eberhard</maintainer>
   <license>GPLv3</license>

source/modulo_components/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>modulo_components</name>
-  <version>2.2.7</version>
+  <version>2.2.8</version>
   <description>Modulo base classes that wrap ROS2 Nodes as modular components for the AICA application framework</description>
   <maintainer email="baptiste@aica.tech">Baptiste Busch</maintainer>
   <maintainer email="enrico@aica.tech">Enrico Eberhard</maintainer>

source/modulo_core/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>modulo_core</name>
-  <version>2.2.7</version>
+  <version>2.2.8</version>
   <description>Modulo Core communication and translation utilities for interoperability with AICA Control Libraries</description>
   <maintainer email="baptiste@aica.tech">Baptiste Busch</maintainer>
   <maintainer email="enrico@aica.tech">Enrico Eberhard</maintainer>

source/modulo_utils/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>modulo_utils</name>
-  <version>2.2.7</version>
+  <version>2.2.8</version>
   <description>Modulo utils package for shared test fixtures</description>
   <maintainer email="dominic@aica.tech">Dominic Reber</maintainer>
   <license>GPLv3</license>