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docker-ros.yml
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workflow:
rules:
- if: $CI_PIPELINE_SOURCE == "parent_pipeline" # run child pipeline if triggered by parent pipeline
- if: $CI_PIPELINE_SOURCE == "merge_request_event" # run merge request pipeline if triggered by merge request
- if: $CI_COMMIT_BRANCH && $CI_OPEN_MERGE_REQUESTS # don't run branch pipeline if open merge request exists
when: never
- if: $CI_COMMIT_BRANCH # run branch pipeline if triggered by commit
- if: $CI_COMMIT_TAG # run tag pipeline with specific image tags if triggered by tag
variables:
ADDITIONAL_DEBS_FILE: docker/additional-debs.txt # Relative filepath to file containing additional apt deb packages to install
ADDITIONAL_FILES_DIR: docker/additional-files # Relative path to directory containing additional files to copy into image"
ADDITIONAL_PIP_FILE: docker/additional-pip-requirements.txt # Relative filepath to file containing additional pip packages to install
BASE_IMAGE: '' # Base image name:tag (required)
BLACKLISTED_PACKAGES_FILE: docker/blacklisted-packages.txt # Relative filepath to file containing the blacklisted packages
BUILD_CONTEXT: . # Build context of Docker build process
COMMAND: '' # Launch command of run image (required if target=run)
CMAKE_ARGS: '-DCMAKE_BUILD_TYPE=Release' # CMake arguments to pass to `colcon build`
CUSTOM_SCRIPT_FILE: docker/custom.sh # Relative filepath to script containing custom installation commands
DISABLE_ROS_INSTALLATION: 'false' # Disable automatic installation of `ros-$ROS_DISTRO-ros-core` package, e.g., if ROS is already installed in `base-image` and package is not available for the OS
DOCKER_ROS_GIT_REF: main # Git ref of *docker-ros* to run in CI
ENABLE_INDUSTRIAL_CI: 'false' # Enable industrial_ci
ENABLE_PUSH_AS_LATEST: 'false' # Push images with tag `latest`/`latest-dev` in addition to the configured image names
ENABLE_RECURSIVE_ADDITIONAL_DEBS: 'false' # Enable recursive discovery of files named `additional-debs-file`
ENABLE_RECURSIVE_ADDITIONAL_PIP: 'false' # Enable recursive discovery of files named `additional-pip-file`
ENABLE_RECURSIVE_BLACKLISTED_PACKAGES: 'false' # Enable recursive discovery of files named `blacklisted-packages-file`
ENABLE_RECURSIVE_CUSTOM_SCRIPT: 'false' # Enable recursive discovery of files named `custom-script-file`
ENABLE_RECURSIVE_VCS_IMPORT: 'true' # Enable recursive discovery of files named `*.repos`
ENABLE_SINGLEARCH_PUSH: 'false' # Enable push of single arch images with [-amd64|-arm64] postfix
ENABLE_SLIM: 'true' # Enable an extra slimmed run image via slim (only if run stage is targeted)
GIT_HTTPS_PASSWORD: ${CI_JOB_TOKEN} # Password for cloning private Git repositories via HTTPS
GIT_HTTPS_SERVER: ${CI_SERVER_HOST} # Server URL (without protocol) for cloning private Git repositories via HTTPS
GIT_HTTPS_USER: gitlab-ci-token # Username for cloning private Git repositories via HTTPS
GIT_SSH_KNOWN_HOST_KEYS: '' # Known SSH host keys for cloning private Git repositories via SSH (may be obtained using `ssh-keyscan`)
GIT_SSH_PRIVATE_KEY: '' # SSH private key for cloning private Git repositories via SSH
IMAGE_NAME: ${CI_REGISTRY_IMAGE} # Image name of run image
IMAGE_TAG: latest # Image tag of run image
PLATFORM: amd64 # Target platform architecture (comma-separated list) [amd64|arm64|...]
REGISTRY_PASSWORD: ${CI_REGISTRY_PASSWORD} # Docker registry password
REGISTRY_USER: ${CI_REGISTRY_USER} # Docker registry username
REGISTRY: ${CI_REGISTRY} # Docker registry to push images to
RMW_IMPLEMENTATION: 'rmw_cyclonedds_cpp' # RMW implementation to use (only for ROS 2)
ROS_DISTRO: '' # ROS Distro (required if ROS is not installed in `base-image`)
SLIM_BUILD_ARGS: '--sensor-ipc-mode proxy --continue-after=10 --show-clogs --http-probe=false' # Arguments to `slim build` (except for `--target` and `--tag`)
TARGET: run # Target stage of Dockerfile (comma-separated list) [dev|run]
VCS_IMPORT_FILE: .repos # Relative filepath to file containing additional repos to install via vcstools (only relevant if ENABLE_RECURSIVE_VCS_IMPORT=false)
DEV_IMAGE_NAME: ${IMAGE_NAME} # Image name of dev image
DEV_IMAGE_TAG: ${IMAGE_TAG}-dev # Image tag of dev image
SLIM_IMAGE_NAME: ${IMAGE_NAME} # Image name of slim run image
SLIM_IMAGE_TAG: ${IMAGE_TAG}-slim # Image tag of slim run image
# --------------------
_RUN_IMAGE: ${IMAGE_NAME}:${IMAGE_TAG}
_DEV_IMAGE: ${DEV_IMAGE_NAME}:${DEV_IMAGE_TAG}
_SLIM_IMAGE: ${SLIM_IMAGE_NAME}:${SLIM_IMAGE_TAG}
_IMAGE_DEV_CI: ${_DEV_IMAGE}_${CI_COMMIT_REF_SLUG}_ci
_IMAGE_RUN_CI: ${_RUN_IMAGE}_${CI_COMMIT_REF_SLUG}_ci
_IMAGE_SLIM_CI: ${_SLIM_IMAGE}_${CI_COMMIT_REF_SLUG}_ci
_IMAGE_DEV_CI_AMD64: ${_IMAGE_DEV_CI}-amd64
_IMAGE_DEV_CI_ARM64: ${_IMAGE_DEV_CI}-arm64
_IMAGE_RUN_CI_AMD64: ${_IMAGE_RUN_CI}-amd64
_IMAGE_RUN_CI_ARM64: ${_IMAGE_RUN_CI}-arm64
_IMAGE_SLIM_CI_AMD64: ${_IMAGE_SLIM_CI}-amd64
_IMAGE_SLIM_CI_ARM64: ${_IMAGE_SLIM_CI}-arm64
_IMAGE_DEV_LATEST: ${DEV_IMAGE_NAME}:latest-dev
_IMAGE_RUN_LATEST: ${IMAGE_NAME}:latest
_IMAGE_SLIM_LATEST: ${SLIM_IMAGE_NAME}:latest-slim
_IMAGE_DEV_TARGET_TAG: ${_DEV_IMAGE}-${CI_COMMIT_TAG}
_IMAGE_RUN_TARGET_TAG: ${_RUN_IMAGE}-${CI_COMMIT_TAG}
_IMAGE_SLIM_TARGET_TAG: ${_SLIM_IMAGE}-${CI_COMMIT_TAG}
_IMAGE_DEV_TAG: ${DEV_IMAGE_NAME}:${CI_COMMIT_TAG}-dev
_IMAGE_RUN_TAG: ${IMAGE_NAME}:${CI_COMMIT_TAG}
_IMAGE_SLIM_TAG: ${SLIM_IMAGE_NAME}:${CI_COMMIT_TAG}-slim
GIT_SUBMODULE_STRATEGY: recursive
DOCKER_DRIVER: overlay2
DOCKER_TLS_CERTDIR: /certs
DOCKER_BUILDKIT: 1
stages:
- Build dev Images
- Build run Images
- Test ROS Industrial CI
- Slim Images
- Push Multi-Arch Images
default:
image: docker:20.10.22-git
services:
- docker:20.10.22-dind
tags:
- privileged
- amd64
before_script:
- echo -e "section_start:`date +%s`:setup_section[collapsed=true]\r\e[0K[docker-ros] Setup docker-ros"
- apk add --update bash
- cd ${BUILD_CONTEXT}
- |-
if [[ ! -d docker/docker-ros ]]; then
mkdir -p docker
git clone --depth=1 https://github.com/ika-rwth-aachen/docker-ros.git docker/docker-ros
cd docker/docker-ros
git fetch origin ${DOCKER_ROS_GIT_REF}
git checkout FETCH_HEAD
cd -
fi
- docker login -u ${REGISTRY_USER} -p ${REGISTRY_PASSWORD} ${REGISTRY}
- docker context create buildx-context
- docker buildx create --use buildx-context
- echo -e "section_end:`date +%s`:setup_section\r\e[0K"
.build:
script:
- |-
if [[ ${CI_RUNNER_EXECUTABLE_ARCH} != ${_PLATFORM} && ${CI_RUNNER_EXECUTABLE_ARCH} != linux/${_PLATFORM} ]]; then
docker run --rm --privileged multiarch/qemu-user-static --reset -p yes
fi
TARGET=${_TARGET} PLATFORM=${_PLATFORM} ./docker/docker-ros/scripts/ci.sh
echo -e "section_start:`date +%s`:push_section[collapsed=true]\r\e[0K[docker-ros] Push ${IMAGE}"
docker push ${IMAGE}
echo -e "section_end:`date +%s`:push_section\r\e[0K"
dev-amd64:
stage: Build dev Images
extends: .build
rules:
- if: $PLATFORM =~ /.*amd64.*/ && $TARGET =~ /.*dev.*/
variables:
_PLATFORM: amd64
_TARGET: dev
IMAGE: ${_IMAGE_DEV_CI_AMD64}
ENABLE_SINGLEARCH_PUSH: 'true'
ENABLE_SLIM: 'false'
_IMAGE_POSTFIX: _${CI_COMMIT_REF_SLUG}_ci
dev-arm64:
stage: Build dev Images
extends: .build
tags: [privileged, arm64]
rules:
- if: $PLATFORM =~ /.*arm64.*/ && $TARGET =~ /.*dev.*/
variables:
_PLATFORM: arm64
_TARGET: dev
IMAGE: ${_IMAGE_DEV_CI_ARM64}
ENABLE_SINGLEARCH_PUSH: 'true'
ENABLE_SLIM: 'false'
_IMAGE_POSTFIX: _${CI_COMMIT_REF_SLUG}_ci
run-amd64:
stage: Build run Images
extends: .build
needs:
- job: dev-amd64
optional: true
rules:
- if: $PLATFORM =~ /.*amd64.*/ && $TARGET =~ /.*run.*/
variables:
_PLATFORM: amd64
_TARGET: run
IMAGE: ${_IMAGE_RUN_CI_AMD64}
ENABLE_SINGLEARCH_PUSH: 'true'
ENABLE_SLIM: 'false'
_IMAGE_POSTFIX: _${CI_COMMIT_REF_SLUG}_ci
run-arm64:
stage: Build run Images
extends: .build
tags: [privileged, arm64]
needs:
- job: dev-arm64
optional: true
rules:
- if: $PLATFORM =~ /.*arm64.*/ && $TARGET =~ /.*run.*/
variables:
_PLATFORM: arm64
_TARGET: run
IMAGE: ${_IMAGE_RUN_CI_ARM64}
ENABLE_SINGLEARCH_PUSH: 'true'
ENABLE_SLIM: 'false'
_IMAGE_POSTFIX: _${CI_COMMIT_REF_SLUG}_ci
.test:
stage: Test ROS Industrial CI
variables:
UPSTREAM_WORKSPACE: ${BUILD_CONTEXT}/.repos
TARGET_WORKSPACE: ${BUILD_CONTEXT}
ADDITIONAL_DEBS: git
AFTER_INIT_EMBED: git config --global url.https://${GIT_HTTPS_USER}:${GIT_HTTPS_PASSWORD}@${GIT_HTTPS_SERVER}.insteadOf https://${GIT_HTTPS_SERVER}
DOCKER_RUN_OPTS: -u root:root
before_script:
- docker login -u ${REGISTRY_USER} -p ${REGISTRY_PASSWORD} ${REGISTRY}
- apk add --update bash coreutils grep tar
- |-
if [[ ${CI_RUNNER_EXECUTABLE_ARCH} != ${_PLATFORM} && ${CI_RUNNER_EXECUTABLE_ARCH} != linux/${_PLATFORM} ]]; then
docker run --rm --privileged multiarch/qemu-user-static --reset -p yes
fi
- git clone --branch master --depth 1 https://github.com/ros-industrial/industrial_ci.git .industrial_ci
- test -f ${BUILD_CONTEXT}/.repos || echo "repositories:" > ${BUILD_CONTEXT}/.repos
script: .industrial_ci/gitlab.sh
Test dev-amd64:
extends: .test
needs:
- job: dev-amd64
rules:
- if: $ENABLE_INDUSTRIAL_CI == 'true' && $PLATFORM =~ /.*amd64.*/ && $TARGET =~ /.*dev.*/
variables:
DOCKER_IMAGE: ${_IMAGE_DEV_CI_AMD64}
_PLATFORM: amd64
Test dev-arm64:
extends: .test
tags: [privileged, arm64]
needs:
- job: dev-arm64
rules:
- if: $ENABLE_INDUSTRIAL_CI == 'true' && $PLATFORM =~ /.*arm64.*/ && $TARGET =~ /.*dev.*/
variables:
DOCKER_IMAGE: ${_IMAGE_DEV_CI_ARM64}
_PLATFORM: arm64
Test run-amd64:
extends: .test
needs:
- job: run-amd64
rules:
- if: $ENABLE_INDUSTRIAL_CI == 'true' && $PLATFORM =~ /.*amd64.*/ && $TARGET !~ /.*dev.*/
variables:
DOCKER_IMAGE: ${_IMAGE_RUN_CI_AMD64}
_PLATFORM: amd64
Test run-arm64:
extends: .test
needs:
- job: run-arm64
rules:
- if: $ENABLE_INDUSTRIAL_CI == 'true' && $PLATFORM =~ /.*arm64.*/ && $TARGET !~ /.*dev.*/
variables:
DOCKER_IMAGE: ${_IMAGE_RUN_CI_ARM64}
_PLATFORM: arm64
.slim:
stage: Slim Images
before_script:
- apk add --update --upgrade curl tar
- curl -L -o ds.tar.gz ${SLIM_DOWNLOAD_URL}
- tar -xvf ds.tar.gz
- cd dist_linux*
- docker login -u ${REGISTRY_USER} -p ${REGISTRY_PASSWORD} ${REGISTRY}
- docker pull ${FAT_IMAGE}
script:
- ./slim build --target ${FAT_IMAGE} --tag ${SLIM_IMAGE} ${SLIM_BUILD_ARGS}
- docker push ${SLIM_IMAGE}
Slim run-amd64:
stage: Slim Images
extends: .slim
needs:
- job: run-amd64
optional: true
- job: Test run-amd64
optional: true
rules:
- if: $ENABLE_SLIM == 'true' && $PLATFORM =~ /.*amd64.*/ && $TARGET =~ /.*run.*/
variables:
FAT_IMAGE: ${_IMAGE_RUN_CI_AMD64}
SLIM_IMAGE: ${_IMAGE_SLIM_CI_AMD64}
SLIM_DOWNLOAD_URL: "https://github.com/slimtoolkit/slim/releases/download/1.40.11/dist_linux.tar.gz"
Slim run-arm64:
stage: Slim Images
extends: .slim
tags: [privileged, arm64]
needs:
- job: run-arm64
optional: true
- job: Test run-arm64
optional: true
rules:
- if: $ENABLE_SLIM == 'true' && $PLATFORM =~ /.*arm64.*/ && $TARGET =~ /.*run.*/
variables:
FAT_IMAGE: ${_IMAGE_RUN_CI_ARM64}
SLIM_IMAGE: ${_IMAGE_SLIM_CI_ARM64}
SLIM_DOWNLOAD_URL: "https://github.com/slimtoolkit/slim/releases/download/1.40.11/dist_linux_arm64.tar.gz"
.push:
needs:
- job: dev-amd64
optional: true
- job: dev-arm64
optional: true
- job: run-amd64
optional: true
- job: run-arm64
optional: true
- job: Test dev-amd64
optional: true
- job: Test dev-arm64
optional: true
- job: Test run-amd64
optional: true
- job: Test run-arm64
optional: true
- job: Slim run-amd64
optional: true
- job: Slim run-arm64
optional: true
rules:
- if: $PLATFORM == '' || $TARGET == ''
when: never
script:
- |-
if [[ "${PLATFORM}" =~ amd64 && "${PLATFORM}" =~ arm64 ]]; then
if [[ "${TARGET}" =~ dev ]]; then
docker manifest create ${IMG_DEV} --amend ${_IMAGE_DEV_CI_AMD64} --amend ${_IMAGE_DEV_CI_ARM64}
docker manifest push ${IMG_DEV}
fi
if [[ "${TARGET}" =~ run ]]; then
docker manifest create ${IMG_RUN} --amend ${_IMAGE_RUN_CI_AMD64} --amend ${_IMAGE_RUN_CI_ARM64}
docker manifest push ${IMG_RUN}
fi
if [[ "${ENABLE_SLIM}" == 'true' && "${TARGET}" =~ run ]]; then
docker manifest create ${IMG_SLIM} --amend ${_IMAGE_SLIM_CI_AMD64} --amend ${_IMAGE_SLIM_CI_ARM64}
docker manifest push ${IMG_SLIM}
fi
elif [[ "${PLATFORM}" =~ amd64 ]]; then
if [[ "${TARGET}" =~ dev ]]; then
docker pull ${_IMAGE_DEV_CI_AMD64}
docker tag ${_IMAGE_DEV_CI_AMD64} ${IMG_DEV}
docker push ${IMG_DEV}
fi
if [[ "${TARGET}" =~ run ]]; then
docker pull ${_IMAGE_RUN_CI_AMD64}
docker tag ${_IMAGE_RUN_CI_AMD64} ${IMG_RUN}
docker push ${IMG_RUN}
fi
if [[ "${ENABLE_SLIM}" == 'true' && "${TARGET}" =~ run ]]; then
docker pull ${_IMAGE_SLIM_CI_AMD64}
docker tag ${_IMAGE_SLIM_CI_AMD64} ${IMG_SLIM}
docker push ${IMG_SLIM}
fi
elif [[ "${PLATFORM}" =~ arm64 ]]; then
if [[ "${TARGET}" =~ dev ]]; then
docker pull ${_IMAGE_DEV_CI_ARM64}
docker tag ${_IMAGE_DEV_CI_ARM64} ${IMG_DEV}
docker push ${IMG_DEV}
fi
if [[ "${TARGET}" =~ run ]]; then
docker pull ${_IMAGE_RUN_CI_ARM64}
docker tag ${_IMAGE_RUN_CI_ARM64} ${IMG_RUN}
docker push ${IMG_RUN}
fi
if [[ "${ENABLE_SLIM}" == 'true' && "${TARGET}" =~ run ]]; then
docker pull ${_IMAGE_SLIM_CI_ARM64}
docker tag ${_IMAGE_SLIM_CI_ARM64} ${IMG_SLIM}
docker push ${IMG_SLIM}
fi
fi
Push CI:
stage: Push Multi-Arch Images
extends: .push
rules:
- !reference [.push, rules]
- if: $CI_COMMIT_TAG
when: never
- if: $CI_COMMIT_BRANCH != $CI_DEFAULT_BRANCH
variables:
IMG_DEV: ${_IMAGE_DEV_CI}
IMG_RUN: ${_IMAGE_RUN_CI}
IMG_SLIM: ${_IMAGE_SLIM_CI}
Push:
stage: Push Multi-Arch Images
extends: .push
rules:
- !reference [.push, rules]
- if: $CI_COMMIT_BRANCH == $CI_DEFAULT_BRANCH
variables:
IMG_DEV: ${_DEV_IMAGE}
IMG_RUN: ${_RUN_IMAGE}
IMG_SLIM: ${_SLIM_IMAGE}
Push latest:
stage: Push Multi-Arch Images
extends: .push
rules:
- !reference [.push, rules]
- if: $CI_COMMIT_BRANCH == $CI_DEFAULT_BRANCH && $ENABLE_PUSH_AS_LATEST == 'true'
variables:
IMG_DEV: ${_IMAGE_DEV_LATEST}
IMG_RUN: ${_IMAGE_RUN_LATEST}
IMG_SLIM: ${_IMAGE_SLIM_LATEST}
Push target tag:
stage: Push Multi-Arch Images
extends: .push
rules:
- !reference [.push, rules]
- if: $CI_COMMIT_TAG
variables:
IMG_DEV: ${_IMAGE_DEV_TARGET_TAG}
IMG_RUN: ${_IMAGE_RUN_TARGET_TAG}
IMG_SLIM: ${_IMAGE_SLIM_TARGET_TAG}
Push tag:
stage: Push Multi-Arch Images
extends: .push
rules:
- !reference [.push, rules]
- if: $CI_COMMIT_TAG && $ENABLE_PUSH_AS_LATEST == 'true'
variables:
IMG_DEV: ${_IMAGE_DEV_TAG}
IMG_RUN: ${_IMAGE_RUN_TAG}
IMG_SLIM: ${_IMAGE_SLIM_TAG}