Enable multiarch build, publish debs as container

.dockerignore

@@ -0,0 +1,15 @@
+################################################################################
+# Repo
+
+.circleci/
+.github/
+.vscode/
+.dockerignore
+.gitignore
+**Dockerfile
+**.Dockerfile
+Dockerfile.**
+Dockerfile
+bin
+build_deb.sh
+build.sh

.github/buildkitd.toml

@@ -0,0 +1,3 @@
+# .github/buildkitd.toml
+[worker.oci]
+  max-parallelism = 1

.github/workflows/main.yaml

@@ -5,65 +5,107 @@ on:
     branches: [ main ]
   pull_request:
     branches: [ main ]
+  workflow_dispatch:
+
+permissions:
+  contents: read
+  packages: write
+
 
 jobs:
-  tii-px4-msgs-deb:
+  build-and-push:
     runs-on: ubuntu-latest
+
+    outputs:
+      short_git_sha: ${{ steps.vars.outputs.SHORT_GIT_SHA }}
+      short_git_version_string: ${{ steps.vars.outputs.SHORT_GIT_VERSION_STRING }}
     steps:
-      - name: Checkout PX4-msgs
-        uses: actions/checkout@v2
-        with:
-          path: PX4-msgs
-      - name: Run px4-msgs docker build
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Set short git commit SHA
+        id: vars
         run: |
-          set -eux
-          mkdir bin
-          pushd PX4-msgs
-          ./build.sh ../bin/
-          popd
-      - name: Upload build
-        uses: actions/upload-artifact@v2
+          calculatedSha=$(git rev-parse --short ${{ github.sha }})
+          calculatedGitVersionString=$(git log --date=format:%Y%m%d --pretty=~git%cd.%h -n 1)
+          echo "SHORT_GIT_SHA=$calculatedSha" >> $GITHUB_OUTPUT
+          echo "SHORT_GIT_VERSION_STRING=$calculatedGitVersionString" >> $GITHUB_OUTPUT
+
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
         with:
-          name: px4_msgs
-          path: bin/*.deb
-          retention-days: 1
+          platforms: amd64,arm64
 
-  artifactory:
-    runs-on: ubuntu-latest
-    needs: tii-px4-msgs-deb
-    if: github.event_name == 'push'
-    steps:
-      - name: Download builds
-        uses: actions/download-artifact@v2
+      - name: Set up Docker Buildx
+        id: buildx
+        uses: docker/setup-buildx-action@v3
+        with:
+          config: .github/buildkitd.toml
+
+      - name: Log in to GitHub Container Registry
+        uses: docker/login-action@v3
         with:
-          name: px4_msgs
-          path: bin
-      - uses: jfrog/setup-jfrog-cli@v2
-        env:
-          JF_ARTIFACTORY_1: ${{ secrets.JFROG_EU_SAAS_TOKEN }}
-      - name: Upload to Artifactory
-        env:
-          ARTIFACTORY_REPO: ssrc-deb-public-local
-          DISTRIBUTION: jammy
-          COMPONENT: fog-sw
-          ARCHITECTURE: amd64
-          BUILD_NAME: px4-msgs
-          CI: true
-        if: github.event_name == 'push'
+          registry: ghcr.io
+          username: ${{ github.repository_owner }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Container metadata for tii-px4-msgs
+        id: meta # referenced from later step
+        uses: docker/metadata-action@v5
+        with:
+          images: ghcr.io/tiiuae/tii-px4-msgs
+          tags: |
+            type=ref,event=branch
+            type=ref,event=pr
+            type=semver,pattern={{raw}}
+            type=sha
+            type=raw,value=latest,enable=${{ endsWith(github.ref, github.event.repository.default_branch) }}
+
+      - name: Build and push debian package container
+        uses: docker/build-push-action@v5
+        with:
+          push: true
+          context: .
+          file: ./Dockerfile
+          cache-from: type=gha
+          cache-to: type=gha,mode=max
+          platforms: linux/amd64,linux/arm64
+          build-args: |
+            PACKAGE_NAME=px4-msgs
+            GIT_RUN_NUMBER=${{ github.run_number }}
+            GIT_COMMIT_HASH=${{ github.sha }}
+            GIT_VERSION_STRING=${{ steps.vars.outputs.SHORT_GIT_VERSION_STRING }}
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          # Needed because we have to create a manifest list in the next job.
+          provenance: mode=min
+
+      - name: Create container and copy deb packages
         run: |
-          set -exu
-          jfrog rt ping
-          for pkg in bin/*.deb
-          do
-            pkg_name=$(basename $pkg)
-            jfrog rt u --deb "$DISTRIBUTION/$COMPONENT/$ARCHITECTURE" \
-                       --target-props COMMIT="$GITHUB_SHA" \
-                       --build-name "$BUILD_NAME" \
-                       --build-number "$GITHUB_SHA" \
-                       "$pkg" \
-                       "$ARTIFACTORY_REPO/$pkg_name"
+          platforms=("amd64" "arm64")
+          for platform in "${platforms[@]}"; do
+            docker create -ti --name "px4-msgs-build-temp-$platform" --platform=linux/$platform $(echo "${{ steps.meta.outputs.tags }}" | head -1) bash
+            docker cp "px4-msgs-build-temp-$platform:/artifacts/." ./output_dir
+            docker rm "px4-msgs-build-temp-$platform"
           done
-          jfrog rt build-publish "$BUILD_NAME" "$GITHUB_SHA"
-          jfrog rt bpr "$BUILD_NAME" "$GITHUB_SHA" "$ARTIFACTORY_REPO" \
-                       --status dev \
-                       --comment "development build"
+
+      - name: Upload .deb packages as artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: deb-packages
+          path: ./output_dir/*.deb
+
+  # upload-to-digitalocean:
+  #   runs-on: ubuntu-latest
+  #   needs: build-and-push
+  #   # if: github.event_name == 'push' && github.ref_name == github.event.repository.default_branch
+  #   steps:
+  #     - name: Download .deb package artifact
+  #       uses: actions/download-artifact@v4
+  #       with:
+  #         name: deb-packages
+
+  #     - name: Upload to digitalocean
+  #       run: |
+  #         echo "Placeholder"
+  #         ls -R

Dockerfile

@@ -1,14 +1,29 @@
-FROM ghcr.io/tiiuae/fog-ros-baseimage-builder:v2.1.0
+FROM ros:humble-ros-base as builder
 
+ARG GIT_RUN_NUMBER
+ARG GIT_COMMIT_HASH
+ARG GIT_VERSION_STRING
+
+RUN echo $GIT_RUN_NUMBER
+RUN echo $GIT_COMMIT_HASH
+RUN echo $GIT_VERSION_STRING
 ARG BUILD_NUMBER=0
+RUN apt-get update -y && apt-get install -y --no-install-recommends \
+    curl \
+    python3-bloom \
+    dh-make \
+    libboost-dev
 
 COPY . /main_ws/src/
 
 # this:
 # 1) builds the application
 # 2) packages the application as .deb in /main_ws/
+WORKDIR /main_ws/src
+RUN /main_ws/src/package.sh -b $GIT_RUN_NUMBER -g $GIT_COMMIT_HASH -v $GIT_VERSION_STRING
 
-RUN /packaging/build.sh -b ${BUILD_NUMBER}
+RUN mkdir -p /output_dir && cp /main_ws/*.deb /output_dir/
 
-RUN mkdir -p /output_dir
-RUN cp /main_ws/ros-*-px4-msgs_*_amd64.deb /output_dir/
+FROM alpine:edge
+COPY --from=builder /output_dir/*.deb /artifacts/
+CMD ["sh"]

README.md

@@ -4,6 +4,26 @@
 
 This package contains the ROS2 message definitions of the [PX4 Pro ecosystem](https://px4.io/). Building this package generates all the required interfaces to interface ROS2 nodes with the PX4 autopilot internals, which use the [uORB messaging API](https://dev.px4.io/en/middleware/uorb.html). Currently the messages of this package represent a dependency to [`px4_ros_com` package](https://github.com/PX4/px4_ros_com).
 
+
+### Copy the deb packages to your local directory
+```bash
+docker create --name px4-msgs-artifacts ghcr.io/tiiuae/tiiuae/tii-px4-msgs:main
+mkdir -p /tmp/px4_msgs_debs/bin
+docker cp px4-msgs-artifacts:/artifacts/. /tmp/px4_msgs_debs/bin/
+docker rm px4-msgs-artifacts
+ls -la /tmp/px4_msgs_debs/bin
+```
+
+### Copy and install deb packages in Dockerfile
+Modify the tag name accordingly. The baseimage is given as an example, could be used any that has the ros2 installed. If the ROS2 installation is done later, install the deb packages after the ROS2 installation.
+```Dockerfile
+FROM ros:humble-ros-base
+
+RUN mkdir -p /tmp/px4_msgs_debs
+COPY --from=ghcr.io/tiiuae/tii-px4-msgs:main /artifacts/*.deb /tmp/px4_msgs_debs/
+RUN dpkg -i /tmp/px4_msgs_debs/*.deb && rm -rf /tmp/px4_msgs_debs
+```
+
 ## uORB message definitions
 
 The uORB message definitions, which represent the counter-part of the ROS2 messages found in this package, can be found on the [PX4 Firmware repository](https://github.com/PX4/Firmware).

build.sh

@@ -3,15 +3,46 @@
 set -euxo pipefail
 
 output_dir=$1
+
+git_commit_hash=${2:-$(git rev-parse HEAD)}
+
+git_version_string=${3:-$(git log --date=format:%Y%m%d --pretty=~git%cd.%h -n 1)}
+
 build_number=${GITHUB_RUN_NUMBER:=0}
 
+ros_distro=${ROS_DISTRO:=humble}
+
+iname=${PACKAGE_NAME:=px4-msgs}
+
+iversion=${PACKAGE_VERSION:=latest}
+
+target_platforms=${PLATFORMS:=linux/amd64,linux/arm64}
+
 docker build \
-    --build-arg BUILD_NUMBER=${build_number} \
-    --output type=docker \
-    -t "tii-px4-msgs:px4-msgs" .
+  --build-arg UID=$(id -u) \
+  --build-arg GID=$(id -g) \
+  --build-arg ROS_DISTRO=${ros_distro} \
+  --build-arg PACKAGE_NAME=${iname} \
+  --build-arg GIT_RUN_NUMBER=${build_number} \
+  --build-arg GIT_COMMIT_HASH=${git_commit_hash} \
+  --build-arg GIT_VERSION_STRING=${git_version_string} \
+  --build-arg TARGET_ARCHITECTURE=amd64 \
+  --platform=${target_platforms} \
+  --progress=plain \
+  --output=type=registry \
+  --pull \
+  -f Dockerfile -t "localhost:5000/${iname}-build:${iversion}" .
+
+mkdir -p ${output_dir}
+
+IFS=',' read -ra platforms <<< "$target_platforms"
+for platform in "${platforms[@]}"; do
+  docker create -ti --name ${iname}-build-temp-${platform//\//-} localhost:5000/${iname}-build:latest bash
+  docker cp ${iname}-build-temp-${platform//\//-}:/output_dir/. ${output_dir}
+  docker rm -f ${iname}-build-temp-${platform//\//-}
+done
+
 
-container_id=$(docker create tii-px4-msgs:px4-msgs)
-docker cp ${container_id}:/output_dir/. ${output_dir}
-docker rm -v ${container_id}
+echo "Build completed successfully. Extracted deb package name $(ls ${output_dir}/*.deb)"
 
 exit 0