Merge pull request #12 from openads-project/tracing #48
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| name: docker-ros | |
| on: | |
| push: | |
| branches: | |
| - main | |
| tags: | |
| - 'v[0-9]+.[0-9]+.[0-9]+' | |
| pull_request: | |
| branches: | |
| - main | |
| workflow_dispatch: | |
| permissions: | |
| contents: read | |
| packages: write | |
| jobs: | |
| docker-ros: | |
| strategy: | |
| matrix: | |
| include: | |
| - platform: amd64 | |
| runner: ubuntu-24.04 | |
| - platform: arm64 | |
| runner: ubuntu-24.04-arm | |
| runs-on: ${{ matrix.runner }} | |
| steps: | |
| - uses: actions/checkout@v6 | |
| with: | |
| persist-credentials: false | |
| - id: slug | |
| uses: gacts/github-slug@v1 | |
| with: | |
| to-slug: ${{ github.head_ref || github.ref_name }} | |
| - name: Extract model repository | |
| shell: bash | |
| run: | | |
| # Keep the slimming probe aligned with the model image used by the demo. | |
| MODEL_IMAGE="$( | |
| docker compose -f demo/docker-compose.yml config --format json | | |
| jq -er '."x-model-mount".source' | |
| )" | |
| docker pull --platform linux/amd64 "${MODEL_IMAGE}" | |
| container_id="$(docker create --platform linux/amd64 "${MODEL_IMAGE}" /bin/true)" | |
| trap 'docker rm "${container_id}" >/dev/null' EXIT | |
| mkdir -p "${RUNNER_TEMP}/models" | |
| docker cp "${container_id}:/models/." "${RUNNER_TEMP}/models" | |
| - uses: ika-rwth-aachen/docker-ros@main | |
| with: | |
| platform: ${{ matrix.platform }} | |
| target: dev,run | |
| enable-singlearch-push: true | |
| base-image: rwthika/ros2-triton:jazzy | |
| rmw-implementation: rmw_zenoh_cpp | |
| command: ros2 launch point_cloud_object_detection point_cloud_object_detection.launch.py | |
| enable-industrial-ci: true | |
| cmake-args: >- | |
| -DCMAKE_BUILD_TYPE=Release | |
| -DREQUIRE_CUDA=ON | |
| -DPCOD_CUDA_FAST_MATH=ON | |
| additional-slim-build-args: >- | |
| --compose-file ../docker/slim-compose.yml | |
| --compose-workdir .. | |
| --target-compose-svc point-cloud-object-detection | |
| --dep-exclude-compose-svc-all | |
| env: | |
| ENABLE_RECURSIVE_VCS_IMPORT: 'false' | |
| FAT_IMAGE: ghcr.io/${{ github.repository }}:${{ github.ref_type == 'tag' && github.ref_name || github.ref == format('refs/heads/{0}', github.event.repository.default_branch) && 'latest' || format('latest_{0}_ci', steps.slug.outputs.slug) }}-${{ matrix.platform }} | |
| SLIM_MODEL_DIR: ${{ runner.temp }}/models | |
| SLIM_WORKSPACE: ${{ github.workspace }} | |
| TARGET_CMAKE_ARGS: -DCMAKE_EXPORT_COMPILE_COMMANDS=1 | |
| publish-manifests: | |
| needs: docker-ros | |
| runs-on: ubuntu-24.04 | |
| steps: | |
| - id: slug | |
| uses: gacts/github-slug@v1 | |
| with: | |
| to-slug: ${{ github.head_ref || github.ref_name }} | |
| - uses: docker/login-action@v3 | |
| with: | |
| registry: ghcr.io | |
| username: ${{ github.actor }} | |
| password: ${{ github.token }} | |
| - uses: docker/setup-buildx-action@v3 | |
| - name: Publish multi-arch manifests | |
| shell: bash | |
| env: | |
| DEFAULT_BRANCH: ${{ github.event.repository.default_branch }} | |
| REF_SLUG: ${{ steps.slug.outputs.slug }} | |
| run: | | |
| image="ghcr.io/${GITHUB_REPOSITORY,,}" | |
| tag="latest" | |
| postfix="" | |
| if [[ "${GITHUB_REF_TYPE}" == "tag" ]]; then | |
| tag="${GITHUB_REF_NAME}" | |
| elif [[ "${GITHUB_REF}" != "refs/heads/${DEFAULT_BRANCH}" ]]; then | |
| postfix="_${REF_SLUG}_ci" | |
| fi | |
| for variant in "" "-dev" "-slim"; do | |
| target="${image}:${tag}${variant}${postfix}" | |
| docker buildx imagetools create --tag "${target}" \ | |
| "${target}-amd64" "${target}-arm64" | |
| done |