Docker #100
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: Docker | |
| on: | |
| schedule: | |
| # 6 AM UTC every Sunday | |
| - cron: "0 6 * * 6" | |
| workflow_dispatch: | |
| push: | |
| paths: | |
| - '**/package.xml' | |
| - .docker | |
| - .dockignore | |
| - .github/workflows/docker.yml | |
| - .github/workflows/*.rosinstall | |
| concurrency: # cancel any previous workflow(s) from the same PR or branch/tag | |
| group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }} | |
| cancel-in-progress: true | |
| jobs: | |
| ci: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| ROS_DISTRO: [noetic, one] | |
| runs-on: ubuntu-latest | |
| permissions: | |
| packages: write | |
| contents: read | |
| env: | |
| IMAGE: ubiagni/mujoco_ros:${{ matrix.ROS_DISTRO }}-${{ github.job }} | |
| MUJOCO_VERSIONS: 3.2.0 | |
| steps: | |
| - name: Check for apt updates | |
| uses: rhaschke/docker-run-action@main | |
| continue-on-error: true | |
| id: apt | |
| with: | |
| image: ${{ env.IMAGE }} | |
| shell: bash | |
| run: | | |
| apt-get update | |
| have_updates=$(apt-get --simulate upgrade | grep -q "^0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.$" && echo false || echo true) | |
| echo "no_cache=$have_updates" >> "$GITHUB_OUTPUT" | |
| - name: Set up Docker Buildx | |
| uses: docker/setup-buildx-action@v3 | |
| if: ${{ github.event_name == 'workflow_dispatch' || github.event_name != 'schedule' || steps.apt.outputs.no_cache }} | |
| - name: Login to Container Registry | |
| uses: docker/login-action@v3 | |
| with: | |
| username: ${{ secrets.DOCKERHUB_USERNAME }} | |
| password: ${{ secrets.DOCKERHUB_TOKEN }} | |
| - name: Build and push | |
| uses: docker/build-push-action@v5 | |
| if: ${{ github.event_name == 'workflow_dispatch' || github.event_name != 'schedule' || steps.apt.outputs.no_cache }} | |
| with: | |
| file: .docker/Dockerfile | |
| build-args: | | |
| ROS_DISTRO=${{ matrix.ROS_DISTRO }} | |
| BASE_DOCKER_NAME=${{ matrix.ROS_DISTRO == 'one' && 'jammy' || matrix.ROS_DISTRO }} | |
| MUJOCO_VERSIONS=${{ env.MUJOCO_VERSIONS }} | |
| IMAGE_PREFIX=${{ matrix.ROS_DISTRO == 'one' && 'ubiagni/' || '' }} | |
| push: true | |
| no-cache: ${{ steps.apt.outputs.no_cache || github.event_name == 'workflow_dispatch' }} | |
| cache-from: type=registry,ref=${{ env.IMAGE }} | |
| cache-to: type=inline | |
| tags: ${{ env.IMAGE }} |