docker-build-pc #23
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| name: docker-build-pc | |
| on: | |
| workflow_dispatch: | |
| env: | |
| SDK_DIR: /home/runner/j7ros_home/ros_ws/src/robotics_sdk | |
| REPO_URL: https://git.ti.com/git/processor-sdk-vision/jacinto_ros_perception.git | |
| REPO_TAG: REL.10.00.00 | |
| # only for testing | |
| # REPO_BRANCH: 10_00_rc4 | |
| SDK_VER: 10.0.0 | |
| GH_TOKEN: ${{ secrets.GHCR_PAT }} | |
| jobs: | |
| build_pc: | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - name: Checkout repository | |
| uses: actions/checkout@v4 | |
| - name: Set up Docker Buildx | |
| uses: docker/setup-buildx-action@v3 | |
| - name: Login to GitHub Container Registry | |
| uses: docker/login-action@v3 | |
| with: | |
| registry: ghcr.io | |
| username: ${{ github.actor }} | |
| password: ${{ secrets.GHCR_PAT }} | |
| - name: Clone SDK repository | |
| run: | | |
| mkdir -p $HOME/j7ros_home/ros_ws/src | |
| cd $HOME/j7ros_home/ros_ws/src | |
| git clone --branch ${{ env.REPO_TAG }} --single-branch ${{ env.REPO_URL }} ${{ env.SDK_DIR }} | |
| # gh repo clone robotics_sdk ${{ env.SDK_DIR }} -- --branch ${{ env.REPO_BRANCH }} | |
| SDK_DIR=$SDK_DIR $SDK_DIR/scripts/install_gscam.sh | |
| SDK_DIR=$SDK_DIR $SDK_DIR/scripts/install_mmwave_rospkg.sh 2 | |
| - name: Set up Docker build script | |
| run: | | |
| mkdir -p $HOME/j7ros_home | |
| cd $HOME/j7ros_home | |
| makefile_path=$SDK_DIR/docker/Makefile | |
| if [ -f $makefile_path ]; then | |
| ln -snf $SDK_DIR/docker/Makefile . | |
| else | |
| echo "Error: $makefile_path does not exist" | |
| exit 1 | |
| fi | |
| PLATFORM=pc SDK_DIR=$SDK_DIR make scripts | |
| - name: Verify script generation | |
| run: | | |
| ls -l $HOME/j7ros_home | |
| more $HOME/j7ros_home/docker_build.sh | |
| - name: Build Docker image | |
| run: | | |
| cd $HOME/j7ros_home | |
| ./docker_build.sh | |
| - name: Build and install the SDK ROS nodes | |
| run: | | |
| cd $HOME/j7ros_home | |
| # create docker_run_commit.sh | |
| script_file=docker_run_commit.sh | |
| cp docker_run.sh $script_file | |
| sed -i 's/docker run -it --rm \\/docker run --platform linux\/amd64 \\/' $script_file | |
| sed -i '/xhost +local:$USER/d' $script_file | |
| sed -i '/xhost -local:$USER/d' $script_file | |
| more $script_file | |
| # build and install the SDK ROS nodes | |
| ./docker_run_commit.sh colcon build \ | |
| --base-paths /root/j7ros_home/ros_ws/src/robotics_sdk/ros2 \ | |
| --cmake-force-configure \ | |
| --packages-skip ti_external ti_vision_cnn ti_sde ti_estop ti_vl ti_objdet_range ti_ros_gst_plugins \ | |
| --install-base /opt/ros/robotics_sdk_install | |
| # ISSUE found with --install-base /opt/ros/humble: the default `/opt/ros/humble/setup.bash` is overridden with `install/setup.bash` | |
| docker_tag=robotics-sdk:${{ env.SDK_VER }}-humble-viz | |
| container_id=$(docker ps -a --filter "ancestor=$docker_tag" --format "{{.ID}}" | head -n 1) | |
| docker exec $container_id sed -i '/exec "\$@"/i source /opt/ros/robotics_sdk_install/setup.bash' /root/entrypoint.sh | |
| docker tag $docker_tag ${docker_tag}-org | |
| docker commit $container_id $docker_tag | |
| docker images | |
| - name: Add a Docker label | |
| run: | | |
| docker_tag=robotics-sdk:${{ env.SDK_VER }}-humble-viz | |
| docker images | |
| if [ "$(docker images -q $docker_tag 2> /dev/null)" == "" ]; then | |
| echo "Docker image $docker_tag does not exist." | |
| exit 1 | |
| else | |
| echo "FROM --platform=linux/amd64 $docker_tag" | \ | |
| docker build --label org.opencontainers.image.source=https://github.com/${{ github.repository }} -t $docker_tag - | |
| docker inspect --format='{{json .Config.Labels}}' $docker_tag | |
| fi | |
| - name: Push Docker image | |
| run: | | |
| docker_tag=robotics-sdk:${{ env.SDK_VER }}-humble-viz | |
| remote_docker_tag=ghcr.io/${{ github.repository_owner }}/$docker_tag | |
| remote_docker_tag=${remote_docker_tag,,} | |
| docker tag $docker_tag $remote_docker_tag | |
| docker push $remote_docker_tag |