Add Github Actions for building images for environments (#282)

Add two workflows, rather one reusable workflow. This reusable workflow builds both local and vnc development image (vnc image is based on the built local image), Trigger this workflow everytime there is a change detected in workflow spec YAMLs, or in the docker dir. Add context to docker README file.

.github/workflows/build_and_push_image_workflow.yml

@@ -0,0 +1,63 @@
+name: Deploy Images to GHCR
+
+on:
+  workflow_call:
+    inputs:
+      flavor:
+        required: false
+        default: "devel"
+        type: string
+      base_image:
+        required: false
+        default: "osrf/ros:humble-desktop"
+        type: string
+
+jobs:
+  push-mep3-image:
+    runs-on: ubuntu-latest
+    defaults:
+      run:
+        working-directory: "./docker"
+
+    steps:
+      - name: "Checkout GitHub Action"
+        uses: actions/checkout@main
+
+      - name: "Login to GitHub Container Registry"
+        uses: docker/login-action@v2
+        with:
+          registry: ghcr.io
+          username: ${{github.actor}}
+          password: ${{secrets.GITHUB_TOKEN}}
+
+      - name: "Configure Docker parameters"
+        id: configure_docker_params
+        run: |
+          #!/bin/bash
+
+          case ${{inputs.flavor}} in
+            "vnc")
+              echo "dockerfile=Dockerfile.vnc" >> $GITHUB_OUTPUT
+              echo "image_name=mep3-vnc" >> $GITHUB_OUTPUT
+            ;;
+            *)
+              echo "dockerfile=Dockerfile.base" >> $GITHUB_OUTPUT
+              echo "image_name=mep3" >> $GITHUB_OUTPUT
+            ;;
+          esac
+
+      - uses: docker/setup-buildx-action@v3
+
+      - name: Build and Push Docker Image
+        uses: docker/build-push-action@v5
+        with:
+          context: docker
+          file: ./docker/${{ steps.configure_docker_params.outputs.dockerfile }}
+          build-args: |
+            BASE_IMAGE=${{ inputs.base_image }}
+          push: true
+          tags: |
+            ghcr.io/${{ github.repository_owner }}/${{ steps.configure_docker_params.outputs.image_name }}:latest
+            ghcr.io/${{ github.repository_owner }}/${{ steps.configure_docker_params.outputs.image_name }}:${{ github.sha }}
+          cache-from: type=gha
+          cache-to: type=gha,mode=max

.github/workflows/build_and_push_images.yml

@@ -0,0 +1,18 @@
+on:
+  push:
+    branches:
+      - main
+    paths:
+      - "docker/**"
+      - ".github/workflows/build_and_push_image_workflow.yml"
+      - ".github/workflows/build_and_push_images.yml"
+jobs:
+  build-base:
+    uses: ./.github/workflows/build_and_push_image_workflow.yml
+  notify:
+    needs: build-base
+    name: build-vnc
+    uses: ./.github/workflows/build_and_push_image_workflow.yml
+    with:
+      flavor: vnc
+      base_image: "ghcr.io/${{ github.repository }}:${{ github.sha }}"

docker/Dockerfile.base

@@ -1,51 +1,52 @@
-FROM osrf/ros:humble-desktop
+ARG BASE_IMAGE=osrf/ros:humble-desktop
+FROM $BASE_IMAGE
 
 ARG DEBIAN_FRONTEND=noninteractive
 ARG UID=1000
 
 # User
 RUN useradd -d /memristor -m \
-            -u $UID -U \
-            -s /usr/bin/bash \
-            -G dialout \
-            -c "Memristor Robotics" memristor && \
+    -u $UID -U \
+    -s /usr/bin/bash \
+    -G dialout \
+    -c "Memristor Robotics" memristor && \
     echo "memristor ALL=(ALL) NOPASSWD: ALL" >> /etc/sudoers
 
 # Essentials
 RUN apt-get update && apt-get install -y \
-        ros-humble-navigation2 \
-        ros-humble-nav2-bringup \
-        ros-humble-rviz2 \
-        ros-humble-teleop-twist-keyboard \
-        ros-humble-dynamixel-sdk \
-        ros-humble-can-msgs \
-        ros-humble-ruckig \
-        ros-humble-laser-filters \
-        ros-humble-domain-bridge \
-        ros-humble-rmw-cyclonedds-cpp \
-        ros-humble-ros2-control \
-        ros-humble-ros2-controllers \
-        ros-humble-rqt-common-plugins \
-        ros-humble-webots-ros2 \
-        ros-humble-dynamixel-workbench-toolbox \ 
-        libopencv-dev \
-        python3-pip \
-        python3-pil \
-        alsa \
-        libxshmfence1 \
-        libgtk-3-dev \
-        git \
-        git-lfs \
-        curl \
-        wget \
-        vim \
-        rsync \
-        dialog \
-        fish
+    ros-humble-navigation2 \
+    ros-humble-nav2-bringup \
+    ros-humble-rviz2 \
+    ros-humble-teleop-twist-keyboard \
+    ros-humble-dynamixel-sdk \
+    ros-humble-can-msgs \
+    ros-humble-ruckig \
+    ros-humble-laser-filters \
+    ros-humble-domain-bridge \
+    ros-humble-rmw-cyclonedds-cpp \
+    ros-humble-ros2-control \
+    ros-humble-ros2-controllers \
+    ros-humble-rqt-common-plugins \
+    ros-humble-webots-ros2 \
+    ros-humble-dynamixel-workbench-toolbox \
+    libopencv-dev \
+    python3-pip \
+    python3-pil \
+    alsa \
+    libxshmfence1 \
+    libgtk-3-dev \
+    git \
+    git-lfs \
+    curl \
+    wget \
+    vim \
+    rsync \
+    dialog \
+    fish
 
 # VS Code
 RUN curl -L -o /tmp/vscode.deb \
-        'https://code.visualstudio.com/sha/download?build=stable&os=linux-deb-x64' && \
+    'https://code.visualstudio.com/sha/download?build=stable&os=linux-deb-x64' && \
     apt-get install -y /tmp/vscode.deb && \
     rm -f /tmp/vscode.deb
 
@@ -57,7 +58,7 @@ RUN su memristor -c 'code --install-extension eamodio.gitlens' && \
 
 # Webots
 RUN curl -L -o /tmp/webots.deb \
-        'https://github.com/cyberbotics/webots/releases/download/R2023a/webots_2023a_amd64.deb' && \
+    'https://github.com/cyberbotics/webots/releases/download/R2023a/webots_2023a_amd64.deb' && \
     apt-get install -y /tmp/webots.deb && \
     rm -f /tmp/webots.deb && \
     mkdir -p /memristor/.config/Cyberbotics

docker/Dockerfile.vnc

@@ -1,34 +1,35 @@
-FROM mep3
+ARG BASE_IMAGE=ghcr.io/memristor/mep3
+FROM $BASE_IMAGE
 
 USER root
 
 # TurboVNC
 RUN curl -L -o /tmp/turbovnc.deb \
-        'https://downloads.sourceforge.net/project/turbovnc/3.0.1/turbovnc_3.0.1_amd64.deb?use_mirror=autoselect' && \
+    'https://downloads.sourceforge.net/project/turbovnc/3.0.1/turbovnc_3.0.1_amd64.deb?use_mirror=autoselect' && \
     apt-get install -y /tmp/turbovnc.deb && \
     rm -f /tmp/turbovnc.deb && \
-	echo 'PATH="$PATH:/opt/TurboVNC/bin"' >> /memristor/.bashrc
+    echo 'PATH="$PATH:/opt/TurboVNC/bin"' >> /memristor/.bashrc
 
 # VirtualGL
 RUN curl -L -o /tmp/virtualgl.deb \
-        'https://downloads.sourceforge.net/project/virtualgl/3.0.2/virtualgl_3.0.2_amd64.deb?use_mirror=autoselect' && \
+    'https://downloads.sourceforge.net/project/virtualgl/3.0.2/virtualgl_3.0.2_amd64.deb?use_mirror=autoselect' && \
     apt-get install -y /tmp/virtualgl.deb && \
     rm -f /tmp/virtualgl.deb && \
-	echo 'PATH="$PATH:/opt/VirtualGL/bin"' >> /memristor/.bashrc && \
-	printf "1\n\n\n\nX" | /opt/VirtualGL/bin/vglserver_config && \
-	sudo usermod -a -G vglusers memristor
+    echo 'PATH="$PATH:/opt/VirtualGL/bin"' >> /memristor/.bashrc && \
+    printf "1\n\n\n\nX" | /opt/VirtualGL/bin/vglserver_config && \
+    sudo usermod -a -G vglusers memristor
 
 # NoVNC
 RUN apt-get install -y novnc && \
-	ln -sf /usr/share/novnc/vnc.html /usr/share/novnc/index.html && \
+    ln -sf /usr/share/novnc/vnc.html /usr/share/novnc/index.html && \
     mkdir -p /memristor/.host
 
 # XFCE
 RUN apt-get install -y --no-install-recommends \
-        xorg \
-        dbus-x11 \
-        xfce4 \
-        xfce4-terminal && \
+    xorg \
+    dbus-x11 \
+    xfce4 \
+    xfce4-terminal && \
     echo '/usr/sbin/lightdm' > /etc/X11/default-display-manager
 
 # User config

docker/Makefile

@@ -4,10 +4,11 @@ PROJECT_DIR:=$(shell dirname ${DOCKER_DIR})
 NVIDIA_GPU:=$(shell (docker info | grep Runtimes | grep nvidia 1> /dev/null && command -v nvidia-smi 1>/dev/null 2>/dev/null && nvidia-smi | grep Processes 1>/dev/null 2>/dev/null) && echo '--runtime nvidia --gpus all' || echo '')
 FLAVOR=devel
 IMAGE=mep3
+IMAGE_URL=ghcr.io/memristor/mep3
 
 .PHONY: all
 
-all: destroy build run setup exec
+all: destroy build run setup exec pull
 
 vnc:
 	$(eval FLAVOR=vnc)
@@ -23,6 +24,13 @@ build:
 	@[ ${FLAVOR} != 'devel' ] && \
 		DOCKER_BUILDKIT=1 docker build ${DOCKER_DIR} -f ${DOCKER_DIR}/Dockerfile.${FLAVOR} -t ${IMAGE} ${DOCKER_ARGS} || \
 		true
+
+pull:
+	@docker pull ${IMAGE_URL}
+	@[ ${FLAVOR} != 'devel' ] && \
+		docker pull ${IMAGE_URL}-${FLAVOR} || \
+		true
+
 run:
 	@docker run \
 		--net=host \

docker/README.md

@@ -13,7 +13,13 @@
     # Make sure to have your SSH keys added to GitHub
     git clone git@github.com:memristor/mep3.git
     ```
-3) Run provisioning script to build and run the container
+
+3) Run provisioning script to build and run the container:
+   ```sh
+   cd ./mep3/docker
+   make pull run
+   ```
+   Alternatively, if you prefer, you can build the image locally on your machine:
    ```sh
    cd ./mep3/docker
    make build run
@@ -42,7 +48,7 @@
    `make` in steps 4 and 6 (eg. `make vnc setup`)
 2) Enable VNC preferences in step 6 and wait for the container to restart
 3) Web-based VNC client will be accessible at `http://localhost:6810/` if you keep default noVNC webserver port
-4) In step 7 replace `mep3-devel` with `mep3-vnc`
+4) In step 6 replace `mep3-devel` with `mep3-vnc`
 
 **Note:** If you are setting up through SSH, make sure to have a running Xorg server on host machine,
 and set `DISPLAY` environment variable on step 4 to its value (eg `:0`).