ci: Reuse docker cache

j3soon · Dec 13, 2024 · 2cdb988 · 2cdb988
1 parent 0bba42e
commit 2cdb988
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diff --git a/.github/workflows/build-gazebo-world-ws.yaml b/.github/workflows/build-gazebo-world-ws.yaml
@@ -1,20 +1,49 @@
 name: Build Docker Image for gazebo-world-ws
 
 on:
-  push:
-    branches:
-      - "main"
-    tags:
-      - v*
-    paths:
-      - .github/workflows/build-gazebo-world-ws.yaml
-      - gazebo_world_ws/docker/Dockerfile
-      - gazebo_world_ws/docker/.dockerignore
-      - gazebo_world_ws/docker/.bashrc
+  workflow_run:
+    workflows: ["Build Docker Image for template-ws"]
+    types: [completed]
 
 jobs:
+  paths-filter:
+    if: ${{ github.event.workflow_run.conclusion == 'success' }}
+    runs-on: ubuntu-latest
+    outputs:
+      results: ${{ steps.filter.outputs.results }}
+    steps:
+    # Ref: https://github.com/dorny/paths-filter/issues/147#issuecomment-1287800590
+    - name: Download a single artifact
+      uses: dawidd6/action-download-artifact@v7
+      with:
+        workflow: build-template-ws.yaml
+        name: original-refs
+        workflow_conclusion: success
+    - name: set REF_BASE to env
+      run: |
+        echo "BASE=$(cat base.txt)" >> $GITHUB_ENV
+        echo "CURRENT_BRANCH=$(cat current-branch.txt)" >> $GITHUB_ENV
+    - uses: actions/checkout@v4
+    - uses: dorny/paths-filter@v3
+      id: filter
+      with:
+        base: ${{ env.BASE }}
+        ref: ${{ env.CURRENT_BRANCH }}
+        filters: |
+          results:
+            - .github/workflows/build-gazebo-world-ws.yaml
+            - gazebo_world_ws/docker/Dockerfile
+            - gazebo_world_ws/docker/.dockerignore
+            - gazebo_world_ws/docker/.bashrc
+    - name: Changes matched
+      if: steps.filter.outputs.results == 'true'
+      run: echo "Changes matched, will build image"
+    - name: Changes didn't match
+      if: steps.filter.outputs.results != 'true'
+      run: echo "Changes didn't match, will NOT build image"
   docker:
-    if: github.repository == 'j3soon/ros2-essentials'
+    needs: paths-filter
+    if: ${{ needs.paths-filter.outputs.results == 'true' }}
     runs-on: ubuntu-latest
     steps:
       - name: Maximize build space
@@ -42,6 +71,8 @@ jobs:
           # Output the environment variable
           # Ref: https://stackoverflow.com/a/57989070
           echo "VERSION=$VERSION" >> $GITHUB_ENV
+          # Print for debugging purpose
+          echo "VERSION=$VERSION"
       - name: Docker meta
         id: meta
         # Ref: https://github.com/docker/metadata-action
@@ -57,9 +88,30 @@ jobs:
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_TOKEN }}
+      - name: Pull j3soon/ros2-template-ws (amd64)
+        run: docker pull --platform linux/amd64 j3soon/ros2-template-ws
+      - name: Pull j3soon/ros2-template-ws (arm64)
+        run: docker pull --platform linux/arm64 j3soon/ros2-template-ws
       - name: Build and push
-        uses: docker/build-push-action@v4
+        uses: docker/build-push-action@v6
         with:
           context: gazebo_world_ws/docker
+          cache-from: |
+            ${{ secrets.DOCKERHUB_USERNAME }}/ros2-template-ws:buildcache-amd64
+            ${{ secrets.DOCKERHUB_USERNAME }}/ros2-template-ws:buildcache-arm64
           push: true
           tags: ${{ steps.meta.outputs.tags }}
+      - name: Push amd64 cache
+        uses: docker/build-push-action@v6
+        with:
+          context: template_ws/docker
+          cache-to: ${{ secrets.DOCKERHUB_USERNAME }}/ros2-gazebo-world-ws:buildcache-amd64
+          platforms: linux/amd64
+          tags: ${{ steps.meta.outputs.tags }}
+      - name: Push arm64 cache
+        uses: docker/build-push-action@v6
+        with:
+          context: template_ws/docker
+          cache-to: ${{ secrets.DOCKERHUB_USERNAME }}/ros2-gazebo-world-ws:buildcache-arm64
+          platforms: linux/arm64
+          tags: ${{ steps.meta.outputs.tags }}
diff --git a/.github/workflows/build-template-ws.yaml b/.github/workflows/build-template-ws.yaml
@@ -6,16 +6,49 @@ on:
       - "main"
     tags:
       - v*
-    paths:
-      - .github/workflows/build-template-ws.yaml
-      - template_ws/docker/Dockerfile
-      - template_ws/docker/.dockerignore
-      - template_ws/docker/.bashrc
 
 jobs:
-  docker:
+  paths-filter:
     if: github.repository == 'j3soon/ros2-essentials'
     runs-on: ubuntu-latest
+    outputs:
+      results: ${{ steps.filter.outputs.results }}
+    steps:
+    - uses: actions/checkout@v4
+    - uses: dorny/paths-filter@v3
+      id: filter
+      with:
+        filters: |
+          results:
+            - .github/workflows/build-template-ws.yaml
+            - template_ws/docker/Dockerfile
+            - template_ws/docker/.dockerignore
+            - template_ws/docker/.bashrc
+    - name: Changes matched
+      if: steps.filter.outputs.results == 'true'
+      run: echo "Changes matched, will build image"
+    - name: Changes didn't match
+      if: steps.filter.outputs.results != 'true'
+      run: echo "Changes didn't match, will NOT build image"
+    # Ref: https://github.com/dorny/paths-filter/issues/147#issuecomment-1287800590
+    - name: Save base ref info
+      run: |
+        BASE=${{ github.event.before }}
+        CURRENT_BRANCH=${{ github.ref }}
+        echo $BASE > base.txt
+        echo $CURRENT_BRANCH > current-branch.txt
+    - name: Upload base ref info
+      uses: actions/upload-artifact@v4
+      with:
+        name: original-refs
+        path: |
+          base.txt
+          current-branch.txt
+        retention-days: 1
+  docker:
+    needs: paths-filter
+    if: ${{ needs.paths-filter.outputs.results == 'true' }}
+    runs-on: ubuntu-latest
     steps:
       - name: Maximize build space
         uses: easimon/maximize-build-space@master
@@ -62,9 +95,24 @@ jobs:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_TOKEN }}
       - name: Build and push
-        uses: docker/build-push-action@v4
+        uses: docker/build-push-action@v6
         with:
           context: template_ws/docker
           platforms: linux/amd64,linux/arm64
           push: true
           tags: ${{ steps.meta.outputs.tags }}
+      # Ref: https://github.com/docker/buildx/discussions/1382#discussioncomment-6252049
+      - name: Push amd64 cache
+        uses: docker/build-push-action@v6
+        with:
+          context: template_ws/docker
+          cache-to: ${{ secrets.DOCKERHUB_USERNAME }}/ros2-template-ws:buildcache-amd64
+          platforms: linux/amd64
+          tags: ${{ steps.meta.outputs.tags }}
+      - name: Push arm64 cache
+        uses: docker/build-push-action@v6
+        with:
+          context: template_ws/docker
+          cache-to: ${{ secrets.DOCKERHUB_USERNAME }}/ros2-template-ws:buildcache-arm64
+          platforms: linux/arm64
+          tags: ${{ steps.meta.outputs.tags }}
diff --git a/gazebo_world_ws/docker/Dockerfile b/gazebo_world_ws/docker/Dockerfile
@@ -53,85 +53,85 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     zip \
     && rm -rf /var/lib/apt/lists/*
 
-# Install Python pip
-RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
-    apt-get update && apt-get install -y \
-    python3-pip \
-    && rm -rf /var/lib/apt/lists/*
-
-# Install GUI debugging tools
-# - `x11-apps` and `x11-utils` for `xeyes` and `xdpyinfo`
-#   Ref: https://packages.debian.org/sid/x11-apps
-#   Ref: https://packages.debian.org/sid/x11-utils
-# - `mesa-utils` for `glxgears` and `glxinfo`
-#   Ref: https://wiki.debian.org/Mesa
-# - `vulkan-tools` for `vkcube` and `vulkaninfo`
-#   Ref: https://docs.vulkan.org/tutorial/latest/02_Development_environment.html#_vulkan_packages
-#   Ref: https://gitlab.com/nvidia/container-images/vulkan/-/blob/master/docker/Dockerfile.ubuntu
-RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
-    apt-get update && apt-get install -y \
-    x11-apps x11-utils \
-    mesa-utils \
-    libgl1 vulkan-tools \
-    && rm -rf /var/lib/apt/lists/*
-
-# Setup the required capabilities for the container runtime
-# Ref: https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/docker-specialized.html#driver-capabilities
-ENV NVIDIA_VISIBLE_DEVICES=all
-ENV NVIDIA_DRIVER_CAPABILITIES=all
-
-# Install Vulkan config files
-# Ref: https://gitlab.com/nvidia/container-images/vulkan
-RUN cat > /etc/vulkan/icd.d/nvidia_icd.json <<EOF
-{
-    "file_format_version" : "1.0.0",
-    "ICD": {
-        "library_path": "libGLX_nvidia.so.0",
-        "api_version" : "1.3.194"
-    }
-}
-EOF
-
-# Install ROS2 Gazebo packages for amd64
-RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
-    if [ "$TARGETARCH" = "amd64" ]; then \
-        apt-get update && apt-get install -y \
-        ros-$ROS_DISTRO-gazebo-ros-pkgs \
-        ros-$ROS_DISTRO-gazebo-ros2-control \
-        && rm -rf /var/lib/apt/lists/*; \
-    fi
-
-# Install ROS2 RVIZ and other custom ROS2 packages
-RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
-    apt-get update && apt-get install -y \
-    ros-$ROS_DISTRO-rviz2 \
-    && rm -rf /var/lib/apt/lists/*
-
-USER $USERNAME
-
-# Create Gazebo cache directory with correct ownership to avoid permission issues after volume mount
-RUN mkdir /home/$USERNAME/.gazebo
-
-# Install Isaac Sim (requires Python 3.10)
-# Note that installing Isaac Sim with pip is experimental, keep this in mind when unexpected error occurs
-# TODO: Remove the note above when it is no longer experimental
-# Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#installation-using-pip
-RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
-    if [ "$TARGETARCH" = "amd64" ]; then \
-        python3 -V | grep "Python 3.10" \
-        && pip install isaacsim==4.2.0.2 --extra-index-url https://pypi.nvidia.com \
-        && pip install isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com; \
-    fi
-
-# Install custom tools
-RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
-    sudo apt-get update && sudo apt-get install -y \
-    git-extras \
-    && sudo rm -rf /var/lib/apt/lists/*
-
-# TODO: Add more commands here
-COPY --chown=$USERNAME:$USERNAME \
-     .bashrc /home/$USERNAME/.bashrc
-# TODO: Copy additional files here
-ENTRYPOINT []
-CMD ["/bin/bash"]
+# # Install Python pip
+# RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+#     apt-get update && apt-get install -y \
+#     python3-pip \
+#     && rm -rf /var/lib/apt/lists/*
+# 
+# # Install GUI debugging tools
+# # - `x11-apps` and `x11-utils` for `xeyes` and `xdpyinfo`
+# #   Ref: https://packages.debian.org/sid/x11-apps
+# #   Ref: https://packages.debian.org/sid/x11-utils
+# # - `mesa-utils` for `glxgears` and `glxinfo`
+# #   Ref: https://wiki.debian.org/Mesa
+# # - `vulkan-tools` for `vkcube` and `vulkaninfo`
+# #   Ref: https://docs.vulkan.org/tutorial/latest/02_Development_environment.html#_vulkan_packages
+# #   Ref: https://gitlab.com/nvidia/container-images/vulkan/-/blob/master/docker/Dockerfile.ubuntu
+# RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+#     apt-get update && apt-get install -y \
+#     x11-apps x11-utils \
+#     mesa-utils \
+#     libgl1 vulkan-tools \
+#     && rm -rf /var/lib/apt/lists/*
+# 
+# # Setup the required capabilities for the container runtime
+# # Ref: https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/docker-specialized.html#driver-capabilities
+# ENV NVIDIA_VISIBLE_DEVICES=all
+# ENV NVIDIA_DRIVER_CAPABILITIES=all
+# 
+# # Install Vulkan config files
+# # Ref: https://gitlab.com/nvidia/container-images/vulkan
+# RUN cat > /etc/vulkan/icd.d/nvidia_icd.json <<EOF
+# {
+#     "file_format_version" : "1.0.0",
+#     "ICD": {
+#         "library_path": "libGLX_nvidia.so.0",
+#         "api_version" : "1.3.194"
+#     }
+# }
+# EOF
+# 
+# # Install ROS2 Gazebo packages for amd64
+# RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+#     if [ "$TARGETARCH" = "amd64" ]; then \
+#         apt-get update && apt-get install -y \
+#         ros-$ROS_DISTRO-gazebo-ros-pkgs \
+#         ros-$ROS_DISTRO-gazebo-ros2-control \
+#         && rm -rf /var/lib/apt/lists/*; \
+#     fi
+# 
+# # Install ROS2 RVIZ and other custom ROS2 packages
+# RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+#     apt-get update && apt-get install -y \
+#     ros-$ROS_DISTRO-rviz2 \
+#     && rm -rf /var/lib/apt/lists/*
+# 
+# USER $USERNAME
+# 
+# # Create Gazebo cache directory with correct ownership to avoid permission issues after volume mount
+# RUN mkdir /home/$USERNAME/.gazebo
+# 
+# # Install Isaac Sim (requires Python 3.10)
+# # Note that installing Isaac Sim with pip is experimental, keep this in mind when unexpected error occurs
+# # TODO: Remove the note above when it is no longer experimental
+# # Ref: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#installation-using-pip
+# RUN --mount=type=cache,target=/home/$USERNAME/.cache/pip,sharing=private \
+#     if [ "$TARGETARCH" = "amd64" ]; then \
+#         python3 -V | grep "Python 3.10" \
+#         && pip install isaacsim==4.2.0.2 --extra-index-url https://pypi.nvidia.com \
+#         && pip install isaacsim-extscache-physics==4.2.0.2 isaacsim-extscache-kit==4.2.0.2 isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com; \
+#     fi
+# 
+# # Install custom tools
+# RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+#     sudo apt-get update && sudo apt-get install -y \
+#     git-extras \
+#     && sudo rm -rf /var/lib/apt/lists/*
+# 
+# # TODO: Add more commands here
+# COPY --chown=$USERNAME:$USERNAME \
+#      .bashrc /home/$USERNAME/.bashrc
+# # TODO: Copy additional files here
+# ENTRYPOINT []
+# CMD ["/bin/bash"]