From 4fbf4d8f180d1b39e782ae3b102a0e9c20e12913 Mon Sep 17 00:00:00 2001
From: vortex <--global>
Date: Sun, 24 Sep 2023 19:14:35 +0200
Subject: [PATCH] Added arm64 cockerfile and changed names of both dockerfiles

---
 .github/workflows/docker-publish.yml | 67 ++++++++++++++++++++++++++++
 Dockerfile.ros2                      | 45 ++-----------------
 Dockerfile.ros2-cuda                 | 46 +++++++++++++++++++
 3 files changed, 116 insertions(+), 42 deletions(-)
 create mode 100644 .github/workflows/docker-publish.yml
 create mode 100644 Dockerfile.ros2-cuda

diff --git a/.github/workflows/docker-publish.yml b/.github/workflows/docker-publish.yml
new file mode 100644
index 0000000..cabc085
--- /dev/null
+++ b/.github/workflows/docker-publish.yml
@@ -0,0 +1,67 @@
+name: Publish Docker image to ghcr
+
+on:
+  push:
+    branches: [ main ]
+  workflow_dispatch:
+
+  pull_request:
+    types: [opened, reopened]
+    branches: [ main ]
+
+env:
+  REGISTRY: ghcr.io
+  IMAGE_NAME: ${{ github.repository }}
+
+jobs:
+  build-and-push-image:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        architecture:
+          - amd64
+          - arm64
+        filename:
+          - ros2
+          - ros2-cuda
+
+    permissions:
+      contents: read
+      packages: write
+
+    steps:
+      - name: Checkout own repository
+        uses: actions/checkout@v4
+
+      - name: Set up QEMU
+        if: matrix.architecture != 'amd64'
+        uses: docker/setup-qemu-action@v3
+
+      - name: Extract metadata (tags, labels) for Docker
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}-${{ matrix.filename }}
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v3
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Build and push Docker image
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          file: Dockerfile.${{ matrix.filename }}
+          push: ${{ github.event_name != 'pull_request' }}
+          tags: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}-${{ matrix.filename }}:${{ matrix.architecture }}-latest
+          labels: ${{ steps.meta.outputs.labels }}
+          cache-from: type=gha
+          cache-to: type=gha,mode=max
+          platforms: linux/amd64,linux/arm64
diff --git a/Dockerfile.ros2 b/Dockerfile.ros2
index 1f4ed6e..fd81bc1 100644
--- a/Dockerfile.ros2
+++ b/Dockerfile.ros2
@@ -1,46 +1,7 @@
-FROM nvidia/cuda:12.2.0-base-ubuntu22.04
-
-ENV TZ=Europe
-RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
-
-# Install necessary software for the installation of ROS2
-RUN apt-get update && apt-get install -y \ 
-                      locales \
-                      curl \
-                      gnupg2 \
-                      lsb-release \
-    && apt-get clean \
-    && rm -rf /var/lib/apt/lists/*rm
-
-# install packages
-RUN apt-get update || true && apt-get install -q -y --no-install-recommends \
-    bash-completion \
-    dirmngr \
-    gnupg2 \
-    lsb-release \
-    python3-pip \
-    && rm -rf /var/lib/apt/lists/*
-
-# install ros2 humble base
-
-RUN apt-get update
-
-RUN apt install software-properties-common -y
-RUN add-apt-repository universe
-
-RUN apt update && apt install curl -y
-RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
-
-RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
-
-RUN apt update && apt upgrade -y
-
-RUN apt install -y ros-humble-ros-base \
-                python3-colcon-common-extensions \
-                python3-rosdep \
-                python3-argcomplete \
-    && rm -rf /var/lib/apt/lists/*rm 
+FROM ros:humble
 
 # add sourcing to shell startup script
 
 RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
+
+#
diff --git a/Dockerfile.ros2-cuda b/Dockerfile.ros2-cuda
new file mode 100644
index 0000000..1f4ed6e
--- /dev/null
+++ b/Dockerfile.ros2-cuda
@@ -0,0 +1,46 @@
+FROM nvidia/cuda:12.2.0-base-ubuntu22.04
+
+ENV TZ=Europe
+RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
+
+# Install necessary software for the installation of ROS2
+RUN apt-get update && apt-get install -y \ 
+                      locales \
+                      curl \
+                      gnupg2 \
+                      lsb-release \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*rm
+
+# install packages
+RUN apt-get update || true && apt-get install -q -y --no-install-recommends \
+    bash-completion \
+    dirmngr \
+    gnupg2 \
+    lsb-release \
+    python3-pip \
+    && rm -rf /var/lib/apt/lists/*
+
+# install ros2 humble base
+
+RUN apt-get update
+
+RUN apt install software-properties-common -y
+RUN add-apt-repository universe
+
+RUN apt update && apt install curl -y
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+
+RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+RUN apt update && apt upgrade -y
+
+RUN apt install -y ros-humble-ros-base \
+                python3-colcon-common-extensions \
+                python3-rosdep \
+                python3-argcomplete \
+    && rm -rf /var/lib/apt/lists/*rm 
+
+# add sourcing to shell startup script
+
+RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc