DockerForDevelopment/.github/workflows/build.yaml at master · Smart-Wheelchair-RRC/DockerForDevelopment · GitHub

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name: Build Multi-Architecture ROS Containers

on:
  push:
    tags:
      - 'dev*'
      - 'v*'

jobs:

  # Stage 0: Check conditions and set variables
  get-version:
    runs-on: ubuntu-latest

    outputs:
      image_version: ${{ steps.set_version.outputs.image_version }}

    permissions:
      packages: write
      contents: read
      pull-requests: write

    steps:
      - name: Checkout repository
        uses: actions/checkout@v4

      - name: Set image version
        id: set_version
        run: |
          echo "image_version=${{ github.ref_name }}" >> $GITHUB_OUTPUT


  # Stage 1: ROS2 base humble images (AMD64/x86)
  ros2-humble-base-amd64:
    needs: get-version
    name: ROS2 Humble Base Images (AMD64)
    permissions:
      packages: write
      contents: read
    strategy:
      matrix:
        config:
          - { build_context: './ROS2/AMD64x86/humble', image_name: 'humble', image_version: "${{ needs.get-version.outputs.image_version }}" }
          - { build_context: './ROS2/AMD64x86/humble_gazebo', image_name: 'humble_gazebo', image_version: "${{ needs.get-version.outputs.image_version }}" }
          - { build_context: './ROS2/AMD64x86/humble_cuda', image_name: 'humble_cuda', image_version: "${{ needs.get-version.outputs.image_version }}" }
    uses: ./.github/workflows/build-workflow.yaml
    with:
      build_context: ${{ matrix.config.build_context }}
      image_name: ${{ matrix.config.image_name }}
      image_version: ${{ matrix.config.image_version }}
      runs_on: ubuntu-latest

  # Stage 1: ROS2 base humble images (Jetson/ARM)
  ros2-humble-jetson:
    needs: get-version
    name: ROS2 Humble Jetson Base
    permissions:
      packages: write
      contents: read
    strategy:
      matrix:
        config:
          - { build_context: './ROS2/Jetson/humble_jetson', image_name: 'humble_jetson', image_version: "${{ needs.get-version.outputs.image_version }}" }
    uses: ./.github/workflows/build-workflow.yaml
    with:
      build_context: ${{ matrix.config.build_context }}
      image_name: ${{ matrix.config.image_name }}
      image_version: ${{ matrix.config.image_version }}
      runs_on: ubuntu-22.04-arm

  # Stage 2: ROS2 wheelchair2_base images (AMD64/x86)
  ros2-wheelchair-base:
    needs: [get-version, ros2-humble-base-amd64]
    name: ROS2 Wheelchair2 Base Images
    permissions:
      packages: write
      contents: read
    strategy:
      matrix:
        config:
          - { build_context: './ROS2/AMD64x86/wheelchair2_base', image_name: 'wheelchair2_base', image_version: "${{ needs.get-version.outputs.image_version }}" }
          - { build_context: './ROS2/AMD64x86/wheelchair2_base_cuda', image_name: 'wheelchair2_base_cuda', image_version: "${{ needs.get-version.outputs.image_version }}" }
          - { build_context: './ROS2/AMD64x86/wheelchair2_base_gazebo', image_name: 'wheelchair2_base_gazebo', image_version: "${{ needs.get-version.outputs.image_version }}" }
    uses: ./.github/workflows/build-workflow.yaml
    with:
      build_context: ${{ matrix.config.build_context }}
      image_name: ${{ matrix.config.image_name }}
      image_version: ${{ matrix.config.image_version }}
      runs_on: ubuntu-latest

  # Stage 3: ROS2 wheelchair2_base_jetson (depends on humble_jetson)
  ros2-wheelchair-jetson:
    needs: [get-version, ros2-humble-jetson]
    name: ROS2 Wheelchair2 Jetson Images
    permissions:
      packages: write
      contents: read
    strategy:
      matrix:
        config:
          - { build_context: './ROS2/Jetson/wheelchair2_base_jetson', image_name: 'wheelchair2_base_jetson', image_version: "${{ needs.get-version.outputs.image_version }}" }
    uses: ./.github/workflows/build-workflow.yaml
    with:
      build_context: ${{ matrix.config.build_context }}
      image_name: ${{ matrix.config.image_name }}
      image_version: ${{ matrix.config.image_version }}
      runs_on: ubuntu-22.04-arm

  # Stage 4: Create release
  # if the tag is v*, create a pre-release
  create-release:
    needs: [ros2-wheelchair-base, ros2-wheelchair-jetson]
    if: startsWith(github.ref_name, 'v')
    runs-on: ubuntu-latest
    permissions:
      contents: write
      packages: read
      pull-requests: read
    steps:
      - name: Checkout repository
        uses: actions/checkout@v4

      - name: Create Release
        id: create_release
        uses: ncipollo/release-action@v1
        with:
          tag: ${{ github.ref_name }}
          prerelease: true
          generateReleaseNotes: true