Generating noetic docker image with CUDA #2414
Workflow file for this run
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| name: CI | |
| on: [push, pull_request, workflow_dispatch] | |
| env: | |
| REGISTRY: ghcr.io | |
| jobs: | |
| linting_python_black: | |
| name: Black Linting | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - uses: psf/black@stable | |
| with: | |
| options: --check --diff --color -l 120 | |
| linting_shellcheck: | |
| name: ShellCheck | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Shellcheck | |
| run: | | |
| shopt -s globstar | |
| shellcheck --version | |
| shellcheck **/*.bash **/*.sh | |
| docker_generation_tue_env: | |
| name: Docker Generation tue-env | |
| runs-on: ubuntu-latest | |
| needs: [linting_python_black, linting_shellcheck] | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - ros-distro: noetic | |
| ros-version: 1 | |
| platform: "amd64" | |
| base-image: "ubuntu:20.04" | |
| - ros-distro: humble | |
| ros-version: 2 | |
| platform: "amd64" | |
| base-image: "ubuntu:22.04" | |
| - ros-distro: rolling | |
| ros-version: 2 | |
| platform: "amd64" | |
| base-image: "ubuntu:22.04" | |
| flavor: u22 | |
| - ros-distro: rolling | |
| ros-version: 2 | |
| platform: "amd64" | |
| base-image: "ubuntu:24.04" | |
| flavor: u24 | |
| create-venv: true | |
| - ros-distro: noetic | |
| ros-version: 1 | |
| platform: "amd64" | |
| base-image: "nvidia/cuda:12.1.1-devel-ubuntu20.04" | |
| flavor: cu12.1.1-devel | |
| outputs: | |
| key: ${{ steps.artifacts.outputs.key }} | |
| tag: ${{ steps.script.outputs.tag }} | |
| steps: | |
| - name: Maximize build space | |
| uses: easimon/maximize-build-space@master | |
| with: | |
| build-mount-path: /var/lib/docker/ | |
| remove-android: true | |
| remove-dotnet: true | |
| root-reserve-mb: 2048 | |
| temp-reserve-mb: 512 | |
| - name: Restart docker | |
| run: sudo service docker restart | |
| - uses: actions/checkout@v4 | |
| - name: Login to Docker registry | |
| uses: docker/login-action@v3 | |
| with: | |
| registry: ${{ env.REGISTRY }} | |
| username: ${{ github.actor }} | |
| password: ${{ secrets.GITHUB_TOKEN }} | |
| - name: Expose GitHub Runtime | |
| uses: crazy-max/ghaction-github-runtime@v3 | |
| # Comment out when generating arm64 | |
| #- name: Install QEMU | |
| # run: | | |
| # sudo apt update -qq | |
| # sudo apt install -qq -y qemu qemu-user-static | |
| - name: Docker info | |
| run: docker info | |
| - name: Script | |
| id: script | |
| run: | | |
| #! /usr/bin/env bash | |
| GITHUB_REF=${GITHUB_REF#refs/heads/} | |
| GITHUB_REF=${GITHUB_REF#refs/tags/} | |
| BRANCH=${GITHUB_BASE_REF:-${GITHUB_REF}} | |
| # shellcheck disable=SC1083,SC2296 | |
| PULLREQUEST=${{ github.event.number }} | |
| PULLREQUEST=${PULLREQUEST:-false} | |
| # shellcheck disable=SC1083,SC2296 | |
| PUSH_IMAGE=${{ matrix.push-image }} | |
| [[ ${PULLREQUEST} != "false" ]] && PUSH_IMAGE="false" | |
| PUSH_IMAGE=${PUSH_IMAGE:-true} | |
| # shellcheck disable=SC1083,SC2296 | |
| DEFAULT_BRANCH=${{ github.event.repository.default_branch }} | |
| if [[ "$BRANCH" == "$DEFAULT_BRANCH" ]] | |
| then | |
| IMAGE_TAG="latest" | |
| else | |
| IMAGE_TAG="$(echo "${BRANCH}" | tr '[:upper:]' '[:lower:]' | sed -e 's:/:_:g')" | |
| fi | |
| # shellcheck disable=SC1083,SC2296 | |
| IMAGE_FLAVOR=${{ matrix.flavor }} | |
| IMAGE_FLAVOR=${IMAGE_FLAVOR:+"-${IMAGE_FLAVOR}"} | |
| # shellcheck disable=SC2296 | |
| TARGET_IMAGE="${{ env.REGISTRY }}/tue-robotics/tue-env-ros-${{ matrix.ros-distro }}${IMAGE_FLAVOR}:${IMAGE_TAG}-${{ matrix.platform }}" | |
| SSH_KNOWN_HOSTS="github.com" | |
| SSH_ARG=() | |
| if [[ -n "${SSH_KEY}" ]] | |
| then | |
| SSH_KEY_PATH="${HOME}/.ssh/ci_ssh_key" | |
| mkdir -p "${HOME}"/.ssh | |
| echo "${SSH_KEY}" > "${SSH_KEY_PATH}" | |
| chmod 600 "${SSH_KEY_PATH}" | |
| eval "$(ssh-agent -s)" | |
| SSH_ARG+=("--ssh" "--ssh-key=${SSH_KEY_PATH}") | |
| fi | |
| if [[ -n "${SSH_KNOWN_HOSTS}" ]] | |
| then | |
| echo -e "\e[35m\e[1mmkdir -p ${HOME}/.ssh\e[0m" | |
| mkdir -p "${HOME}"/.ssh | |
| for host in ${SSH_KNOWN_HOSTS} | |
| do | |
| echo -e "\e[35m\e[1mssh-keyscan -t rsa -H \"${host}\" 2>&1 | tee -a ${HOME}/.ssh/known_hosts\e[0m" | |
| ssh-keyscan -t rsa -H "${host}" 2>&1 | tee -a "${HOME}"/.ssh/known_hosts | |
| done | |
| fi | |
| # shellcheck disable=SC1083,SC2296 | |
| CREATE_VENV=${{ matrix.create-venv }} | |
| CREATE_VENV=${CREATE_VENV:-false} | |
| # shellcheck disable=SC1083,SC2296 | |
| VENV_INCLUDE_SYSTEM_SITE=${{ matrix.venv-include-system-site }} | |
| VENV_INCLUDE_SYSTEM_SITE=${VENV_INCLUDE_SYSTEM_SITE:-true} | |
| # shellcheck disable=SC2296 | |
| ci/build-docker-image.sh \ | |
| --registry="${{ env.REGISTRY }}" \ | |
| --image="${TARGET_IMAGE}" \ | |
| --branch="${BRANCH}" \ | |
| --commit="${GITHUB_SHA}" \ | |
| --push_image="${PUSH_IMAGE}" \ | |
| --pull_request="${PULLREQUEST}" \ | |
| --ros_version="${{ matrix.ros-version }}" \ | |
| --ros_distro="${{ matrix.ros-distro }}" \ | |
| --base_image="${{ matrix.base-image }}" \ | |
| --docker_file="dockerfiles/tue-env.Dockerfile" \ | |
| --oauth2_token="${{ secrets.OAUTH2_TOKEN }}" \ | |
| --platforms="${{ matrix.platform }}" \ | |
| --create-virtualenv="${CREATE_VENV}" \ | |
| --virtualenv-include-system-site-packages="${VENV_INCLUDE_SYSTEM_SITE}" \ | |
| "${SSH_ARG[@]}" | |
| echo -e "\e[35m\e[1mimage=${TARGET_IMAGE} >> \${GITHUB_OUTPUT}\e[0m" | |
| echo "image=${TARGET_IMAGE}" >> "${GITHUB_OUTPUT}" | |
| echo -e "\e[35m\e[1mtag=${IMAGE_TAG} >> \${GITHUB_OUTPUT}\e[0m" | |
| echo "tag=${IMAGE_TAG}" >> "${GITHUB_OUTPUT}" | |
| - name: Generate artifacts | |
| id: artifacts | |
| if: github.event_name != 'pull_request' | |
| run: | | |
| MATRIX_OUTPUT_KEY=image | |
| echo "${{ steps.script.outputs.image }}" > "${MATRIX_OUTPUT_KEY}" | |
| sha256sum "${MATRIX_OUTPUT_KEY}" | cut -d " " -f 1 | xargs -I{} echo "artifact={}" >> $GITHUB_OUTPUT | |
| echo -e "\e[35m\e[1mkey=${MATRIX_OUTPUT_KEY} >> \$GITHUB_OUTPUT\e[0m" | |
| echo "key=${MATRIX_OUTPUT_KEY}" >> $GITHUB_OUTPUT | |
| - name: Write image name | |
| if: github.event_name != 'pull_request' | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: ${{ steps.artifacts.outputs.artifact }} | |
| path: ${{ steps.artifacts.outputs.key }} | |
| retention-days: 1 | |
| docker_manifest_generation_tue_env: | |
| name: Docker Manifest Generation tue-env | |
| runs-on: ubuntu-latest | |
| needs: [docker_generation_tue_env] | |
| if: github.event_name != 'pull_request' | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Login to Docker registry | |
| uses: docker/login-action@v3 | |
| with: | |
| registry: ${{ env.REGISTRY }} | |
| username: ${{ github.actor }} | |
| password: ${{ secrets.GITHUB_TOKEN }} | |
| - uses: actions/download-artifact@v4 | |
| - name: Read matrix output | |
| id: read | |
| run: | | |
| result="$(find . -name ${{ needs.docker_generation_tue_env.outputs.key }} -exec cat {} \; | jq --slurp --raw-input 'split("\n")[:-1] | .[] | split(":") | {(.[0]) : [(.[1])]}' | jq -cs '[.[] | to_entries] | flatten | reduce .[] as $dot ({}; .[$dot.key] += $dot.value) | { ${{ needs.docker_generation_tue_env.outputs.key }} : . }' )" | |
| echo -e "\e[35m\e[1mresult=${result} >> \$GITHUB_OUTPUT\e[0m" | |
| echo "result=${result}" >> $GITHUB_OUTPUT | |
| - name: Generate new manifest files | |
| run: | | |
| ci/docker-manifest-generator.sh \ | |
| --images-json='${{ toJSON(steps.read.outputs.result) }}' \ | |
| --tag="${{ needs.docker_generation_tue_env.outputs.tag }}" |