(actions) Improvements in building docker images

ci/build-docker-image.sh

@@ -137,6 +137,37 @@ echo -e "\e[35;1mCI_DOCKER_PUSH_IMAGE  = ${CI_DOCKER_PUSH_IMAGE}\e[0m"
 echo -e "\e[35;1mCI_DOCKER_SSH         = ${CI_DOCKER_SSH}\e[0m"
 
 
+if [[ "${CI_DOCKER_SSH}" == "true" ]]
+then
+    ADDITIONAL_ARGS_LOCAL_BUILD="${ADDITIONAL_ARGS_LOCAL_BUILD} --ssh --ssh-key=YOUR_KEY_FILE"
+fi
+
+if [[ -n "${CI_OAUTH2_TOKEN}" ]]
+then
+    ADDITIONAL_ARGS_LOCAL_BUILD="${ADDITIONAL_ARGS_LOCAL_BUILD} --oauth2_token=YOUR_OAUTH2_KEY"
+fi
+
+# Command to reproduce locally
+# shellcheck disable=SC2016
+echo -e "\e[35;1m
+This build can be reproduced locally using the following commands:
+
+\`\`\`
+tue-get install docker
+cd "'${TUE_DIR}'"
+git checkout ${CI_COMMIT}
+
+docker buildx rm multiarch-builder
+docker context rm multiarch-environment
+
+"'${TUE_DIR}'"/ci/build-docker-image.sh --image=${CI_DOCKER_IMAGE_NAME} --branch=${CI_BRANCH} --pull_request=${CI_PULL_REQUEST} --commit=${CI_COMMIT} --registry=${CI_DOCKER_REGISTRY} --ref-name=${CI_REF_NAME} --platforms=${CI_DOCKER_PLATFORMS} --push_image=false --ros_version=${CI_ROS_VERSION} --ros_distro=${CI_ROS_DISTRO} --targets_repo=${CI_TARGETS_REPO} --base_image=${CI_DOCKER_BASE_IMAGE} --docker_file=${CI_DOCKER_FILE}${ADDITIONAL_ARGS_LOCAL_BUILD}
+\`\`\`
+
+This command never pushes the docker image to the registry. You will need to alter the '--push_image' argument for that. This also requires you are logged in to the correct docker registry or provide the related arguments(--docker_login, --user and --password), so this script will login.
+To access a private repository you need to provide a SSH key ('--ssh --ssh-key=YOUR_SSH_KEY_FILE') or an OAUTH2 token ('--oauth2_token=YOUR_OAUTH2_TOKEN').
+
+\e[0m"
+
 # Declare arrays for storing the constructed docker build arguments
 CI_DOCKER_BUILD_ARGS=()
 CI_DOCKER_BUILDX_ARGS=()
@@ -227,6 +258,13 @@ then
 fi
 
 # Construction of Docker buildx arguments begins here
+if [[ "${GITHUB_ACTIONS}" == "true" ]]
+then
+    echo -e "\e[35;1mRunning on GitHub Actions, using the specific GHA cache\e[0m"
+    CI_DOCKER_BUILDX_ARGS+=("--cache-from=type=gha")
+    CI_DOCKER_BUILDX_ARGS+=("--cache-to=type=gha,mode=min,compression=zstd")
+fi
+
 if [[ -n "$CI_DOCKER_PLATFORMS" ]]
 then
     CI_DOCKER_BUILDX_ARGS+=("--platform=linux/${CI_DOCKER_PLATFORMS}")

ci/install-package.sh

@@ -134,7 +134,7 @@ then
     echo -e "\e[35;1mSSH_KEY      = ${SSH_KEY_FINGERPRINT}\e[0m"
 
     DOCKER_SSH_AUTH_SOCK="/tmp/ssh_auth_sock"
-    DOCKER_MOUNT_KNOWN_HOSTS_ARGS=("-e" "SSH_AUTH_SOCK=${DOCKER_SSH_AUTH_SOCK}" "--mount" "type=bind,source=$SHARED_DIR/.ssh,target=/tmp/.ssh")
+    DOCKER_MOUNT_KNOWN_HOSTS_ARGS=("-e" "SSH_AUTH_SOCK=${DOCKER_SSH_AUTH_SOCK}" "--mount" "type=bind,source=${SHARED_DIR}/.ssh,target=/tmp/.ssh")
 
     # Used in the print statement to reproduce CI build locally
     ADDITIONAL_ARGS_LOCAL_INSTALL+=("--shared=/tmp/shared/${PACKAGE}" "--ssh")

dockerfiles/tue-env.Dockerfile

@@ -45,11 +45,14 @@ SHELL ["/bin/bash", "-c"]
 
 # Install commands used in our scripts and standard present on a clean ubuntu
 # installation and setup a user with sudo priviledges
-RUN apt-get update -qq && \
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    apt-get update -qq && \
     echo "resolvconf resolvconf/linkify-resolvconf boolean false" | debconf-set-selections && \
-    apt-get install -qq --assume-yes --no-install-recommends apt-transport-https apt-utils bash-completion ca-certificates curl dbus debconf-utils dialog git keyboard-configuration lsb-release iproute2 iputils-ping mesa-utils net-tools openssh-client psmisc resolvconf sudo tzdata wget > /dev/null && \
+    apt-get install -qq --assume-yes --no-install-recommends apt-transport-https apt-utils bash-completion ca-certificates curl dbus debconf-utils dialog git keyboard-configuration lsb-release iproute2 iputils-ping mesa-utils net-tools openssh-client psmisc resolvconf sudo tzdata wget > /dev/null
+
     # Add defined user
-    adduser -u $USER_ID --disabled-password --gecos "" $USER && \
+RUN adduser -u $USER_ID --disabled-password --gecos "" $USER && \
     groupadd -g 109 render && \
     usermod -aG sudo $USER && \
     usermod -aG adm $USER && \
@@ -72,6 +75,8 @@ RUN { [[ -n "$OAUTH2_TOKEN" ]] && git config --global credential.helper '!f() {
 
 # Setup tue-env and install target ros
 RUN --mount=type=ssh,uid=$USER_ID --mount=type=bind,source=installer/bootstrap.bash,target=bootstrap.bash \
+    --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
     # Remove interactive check from bashrc, otherwise bashrc refuses to execute
     sed -e s/return//g -i ~/.bashrc && \
     # Set the CI args in the container as docker currently provides no method to