Enhance Docker build process and multi-platform support (#18)

* syntax fixes * fix: update nvidia.dockerfile to create a virtual environment in /opt/venv * fix to make smaller: disable VSCode and zrok installation in nvidia.dockerfile * fix: streamline Docker build workflow by consolidating build jobs and adding multi-platform support * fix: update Docker image description to include multiarch support * fix: disable fail-fast in Docker build workflow for improved job execution * update Dockerfile and workflows for improved image building and multi-platform support, based on new desktop image * fix: add descriptive names to Docker build jobs for clarity * fix: enhance Docker build job names for better context and update image naming convention * fix: use force option for symbolic links in Dockerfile to avoid errors
LCAS · Jan 10, 2025 · 43ecef3 · 43ecef3
1 parent 11ad564
commit 43ecef3
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diff --git a/.github/workflows/docker-build-opengl.yaml b/.github/workflows/docker-build-opengl.yaml
@@ -13,33 +13,21 @@ on:
   workflow_dispatch:
 
 jobs:
-  build-amd64:
+  build:
+    name: Build ${{ matrix.push_tag }} OpenGL Desktop Images (${{ github.event_name }} by ${{ github.actor }})
     runs-on: 
       - lcas
-      - cuda
     strategy:
+        fail-fast: false
         matrix:
           include:
-            # - base_image: ubuntu:jammy
-            #   ros_distro: humble
-            #   push_tag: jammy-humble
-            # - base_image: nvidia/cuda:11.8.0-cudnn8-devel-ubuntu22.04
-            #   ros_distro: humble
-            #   push_tag: jammy-humble-cuda11.8-opengl
-            # - base_image: nvidia/cuda:12.1.1-cudnn8-devel-ubuntu22.04
-            #   ros_distro: humble
-            #   push_tag: jammy-humble-cuda12.1-opengl
-            - base_image: nvidia/cuda:12.2.2-cudnn8-devel-ubuntu22.04
+            - base_image: lcas.lincoln.ac.uk/lcas/docker_cuda_desktop:jammy-cuda12.2-1
               ros_distro: humble
-              push_tag: jammy-humble-cuda12.2-opengl
+              push_tag: jammy-cuda12.2-humble
 
-            - base_image: nvidia/cuda:12.6.2-cudnn-devel-ubuntu22.04
-              ros_distro: humble
-              push_tag: jammy-humble-cuda12.6-opengl
-
-            - base_image: nvidia/cuda:12.6.3-cudnn-devel-ubuntu24.04
+            - base_image: lcas.lincoln.ac.uk/lcas/docker_cuda_desktop:noble-cuda12.6-1
               ros_distro: rolling
-              push_tag: noble-rolling-cuda12.6-opengl
+              push_tag: noble-cuda12.6-rolling
 
     steps:
     - name: Node Js
@@ -49,96 +37,7 @@ jobs:
     - uses: actions/checkout@v3
     - name: What
       run: echo "BRANCH=${GITHUB_REF##*/}" >> $GITHUB_ENV
-    - name: Docker Login LCAS
-      # You may pin to the exact commit or the version.
-      # uses: docker/login-action@f054a8b539a109f9f41c372932f1ae047eff08c9
-      uses: docker/login-action@v3
-      with:
-        # Server address of Docker registry. If not set then will default to Docker Hub
-        registry: lcas.lincoln.ac.uk
-        # Username used to log against the Docker registry
-        username: ${{ secrets.LCAS_REGISTRY_PUSHER }}
-        # Password or personal access token used to log against the Docker registry
-        password: ${{ secrets.LCAS_REGISTRY_TOKEN }}
-
-    - name: Docker meta
-      id: meta
-      uses: docker/metadata-action@v5
-      with:
-        flavor: |
-          latest=false
-        labels: |
-          org.opencontainers.image.description=L-CAS ROS2 Docker Image with virtual X11 embedded (flavour: ${{ matrix.push_tag }})
-          org.opencontainers.image.authors=L-CAS Team
-        # list of Docker images to use as base name for tags
-        images: |
-          lcas.lincoln.ac.uk/lcas/ros
-        # generate Docker tags based on the following events/attributes
-        tags: |
-          type=raw,value=${{ matrix.push_tag }}-staging
-          type=raw,enable=${{ github.event_name != 'pull_request' }},value=${{ matrix.push_tag }}
-          type=raw,enable=${{ github.event_name != 'pull_request' }},value=${{ matrix.push_tag }}-amd64
-          type=ref,enable=${{ github.event_name != 'pull_request' }},event=branch,prefix=${{ matrix.push_tag }}-
-          type=semver,pattern={{version}},prefix=${{ matrix.push_tag }}-
-          type=semver,pattern={{major}}.{{minor}},prefix=${{ matrix.push_tag }}-
-          type=semver,pattern={{major}},prefix=${{ matrix.push_tag }}-
 
-    - name: Set up Docker Buildx
-      uses: docker/setup-buildx-action@v3
-
-    - name: Build Docker Image
-      uses: docker/build-push-action@v6
-      with:
-        context: .
-        file: ./nvidia.dockerfile
-        platforms: linux/amd64
-        push: true
-        load: true
-        cache-from: type=registry,ref=lcas.lincoln.ac.uk/cache/lcas/ros:${{ matrix.push_tag }}
-        cache-to: type=registry,ref=lcas.lincoln.ac.uk/cache/lcas/ros:${{ matrix.push_tag }},mode=max
-        tags: ${{ steps.meta.outputs.tags }}
-        labels: ${{ steps.meta.outputs.labels }}
-        build-args: |
-            BASE_IMAGE=${{ matrix.base_image }}
-            BRANCH=${{ env.BRANCH }}
-            ROS_DISTRO=${{ matrix.ros_distro }}
-
-  build-arm64:
-    runs-on: 
-      - lcas-runc
-      - runc
-    strategy:
-        matrix:
-          include:
-            # - base_image: ubuntu:jammy
-            #   ros_distro: humble
-            #   push_tag: jammy-humble-arm64
-            # - base_image: nvidia/cuda:11.8.0-cudnn8-devel-ubuntu22.04
-            #   ros_distro: humble
-            #   push_tag: jammy-humble-cuda11.8-opengl-arm64
-            # - base_image: nvidia/cuda:12.1.1-cudnn8-devel-ubuntu22.04
-            #   ros_distro: humble
-            #   push_tag: jammy-humble-cuda12.1-opengl-arm64
-            - base_image: nvidia/cuda:12.2.2-cudnn8-devel-ubuntu22.04
-              ros_distro: humble
-              push_tag: jammy-humble-cuda12.2-opengl-arm64
-
-            - base_image: nvidia/cuda:12.6.2-cudnn-devel-ubuntu22.04
-              ros_distro: humble
-              push_tag: jammy-humble-cuda12.6-opengl-arm64
-
-            - base_image: nvidia/cuda:12.6.3-cudnn-devel-ubuntu24.04
-              ros_distro: rolling
-              push_tag: noble-rolling-cuda12.6-opengl-arm64
-
-    steps:
-    - name: Node Js
-      uses: actions/setup-node@v4
-      with:
-        node-version: "^16.13.0 || >=18.0.0"
-    - uses: actions/checkout@v3
-    - name: What
-      run: echo "BRANCH=${GITHUB_REF##*/}" >> $GITHUB_ENV
     - name: Docker Login LCAS
       # You may pin to the exact commit or the version.
       # uses: docker/login-action@f054a8b539a109f9f41c372932f1ae047eff08c9
@@ -151,18 +50,22 @@ jobs:
         # Password or personal access token used to log against the Docker registry
         password: ${{ secrets.LCAS_REGISTRY_TOKEN }}
 
+    - name: "image name from repo name"
+      id: docker_image_name
+      run: echo "docker_image=${{ github.repository }}" | tr '[:upper:]' '[:lower:]' |sed 's/[^0-9,a-z,A-Z,=,_,\/]/-/g' >>${GITHUB_OUTPUT}
+
     - name: Docker meta
       id: meta
       uses: docker/metadata-action@v5
       with:
         flavor: |
           latest=false
         labels: |
-          org.opencontainers.image.description=L-CAS ROS2 Docker Image with virtual X11 embedded (flavour: ${{ matrix.push_tag }})
+          org.opencontainers.image.description=L-CAS ROS2 Docker Image with virtual X11 embedded (flavour: ${{ matrix.push_tag }}, multiarch)
           org.opencontainers.image.authors=L-CAS Team
         # list of Docker images to use as base name for tags
         images: |
-          lcas.lincoln.ac.uk/lcas/ros
+          lcas.lincoln.ac.uk/${{ steps.docker_image_name.outputs.docker_image }}
         # generate Docker tags based on the following events/attributes
         tags: |
           type=raw,value=${{ matrix.push_tag }}-staging
@@ -180,11 +83,10 @@ jobs:
       with:
         context: .
         file: ./nvidia.dockerfile
-        platforms: linux/arm64
-        cache-from: type=registry,ref=lcas.lincoln.ac.uk/cache/lcas/ros:${{ matrix.push_tag }}
-        cache-to: type=registry,ref=lcas.lincoln.ac.uk/cache/lcas/ros:${{ matrix.push_tag }},mode=max
+        platforms: linux/amd64,linux/arm64
         push: true
-        load: true
+        cache-from: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ steps.docker_image_name.outputs.docker_image }}:${{ matrix.push_tag }}
+        cache-to: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ steps.docker_image_name.outputs.docker_image }}:${{ matrix.push_tag }},mode=max
         tags: ${{ steps.meta.outputs.tags }}
         labels: ${{ steps.meta.outputs.labels }}
         build-args: |

diff --git a/.github/workflows/docker-build.yaml b/.github/workflows/docker-build.yaml
@@ -14,6 +14,7 @@ on:
 
 jobs:
   build:
+    name: Build ${{ matrix.tag }} base image (${{ github.event_name }} by ${{ github.actor }})
     runs-on: ubuntu-latest
     strategy:
         matrix:
@@ -27,8 +28,8 @@ jobs:
     - uses: actions/checkout@v3
     - name: What
       run: echo "BRANCH=${GITHUB_REF##*/}" >> $GITHUB_ENV
+
     - name: Docker Login LCAS
-      if: ${{ github.event_name != 'pull_request' }}
       # You may pin to the exact commit or the version.
       # uses: docker/login-action@f054a8b539a109f9f41c372932f1ae047eff08c9
       uses: docker/login-action@v3
@@ -48,14 +49,45 @@ jobs:
         # Password or personal access token used to log against the Docker registry
         password: ${{ secrets.DOCKERHUB_TOKEN }}
 
+    - name: "image name from repo name"
+      id: docker_image_name
+      run: echo "docker_image=${{ github.repository }}" | tr '[:upper:]' '[:lower:]' |sed 's/[^0-9,a-z,A-Z,=,_,\/]/-/g' >>${GITHUB_OUTPUT}
+
+    - name: Docker meta
+      id: meta
+      uses: docker/metadata-action@v5
+      with:
+        flavor: |
+          latest=false
+        labels: |
+          org.opencontainers.image.description=L-CAS ROS2 Docker Image (flavour: ${{ matrix.tag }}, multiarch)
+          org.opencontainers.image.authors=L-CAS Team
+        # list of Docker images to use as base name for tags
+        images: |
+          lcas.lincoln.ac.uk/${{ steps.docker_image_name.outputs.docker_image }}
+        # generate Docker tags based on the following events/attributes
+        tags: |
+          type=raw,value=${{ matrix.tag }}-staging
+          type=raw,enable=${{ github.event_name != 'pull_request' }},value=${{ matrix.tag }}
+          type=ref,enable=${{ github.event_name != 'pull_request' }},event=branch,prefix=${{ matrix.tag }}-
+          type=semver,pattern={{version}},prefix=${{ matrix.tag }}-
+          type=semver,pattern={{major}}.{{minor}},prefix=${{ matrix.tag }}-
+          type=semver,pattern={{major}},prefix=${{ matrix.tag }}-
+
+    - name: Set up Docker Buildx
+      uses: docker/setup-buildx-action@v3
+
     - name: Build Docker Image
       uses: docker/build-push-action@v5
       with:
         context: .
         file: ./Dockerfile
-        platforms: linux/amd64
-        push: ${{ github.event_name != 'pull_request' }}
-        tags: lcas.lincoln.ac.uk/lcas/ros:${{ matrix.tag }}
+        platforms: linux/amd64,linux/arm64
+        push: true
+        cache-from: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ steps.docker_image_name.outputs.docker_image }}:${{ matrix.tag }}
+        cache-to: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ steps.docker_image_name.outputs.docker_image }}:${{ matrix.tag }},mode=max
+        tags: ${{ steps.meta.outputs.tags }}
+        labels: ${{ steps.meta.outputs.labels }}
         build-args: |
             BASE_IMAGE=ros:${{ matrix.tag }}
             BRANCH=${{ env.BRANCH }}
diff --git a/Dockerfile b/Dockerfile
@@ -1,6 +1,6 @@
 ARG BASE_IMAGE=ros:humble-ros-base-jammy
 
-FROM ${BASE_IMAGE} as installer
+FROM ${BASE_IMAGE}
 
 ENV DEBIAN_FRONTEND=noninteractive
 
@@ -16,5 +16,3 @@ RUN curl -o /etc/ros/rosdep/sources.list.d/20-default.list https://raw.githubuse
     curl -o /etc/ros/rosdep/sources.list.d/50-lcas.list https://raw.githubusercontent.com/LCAS/rosdistro/master/rosdep/sources.list.d/50-lcas.list
 
 ENV ROSDISTRO_INDEX_URL=https://raw.github.com/LCAS/rosdistro/master/index-v4.yaml
-
-RUN mkdir -p ~/.config/rosdistro && echo "index_url: https://raw.github.com/LCAS/rosdistro/master/index-v4.yaml" > ~/.config/rosdistro/config.yaml