Add multi-arch building of the msgs

.dockerignore

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+################################################################################
+# Repo
+
+.circleci/
+.github/
+.vscode/
+.dockerignore
+.gitignore
+**Dockerfile
+**.Dockerfile
+Dockerfile.**
+Dockerfile
+bin
+build_deb.sh

.github/workflows/fognav-msgs-docker.yaml

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+name: Build and Push Docker Image, upload artifact
+
+on:
+  push:
+  pull_request:
+
+jobs:
+  build-and-push:
+    runs-on: ubuntu-latest
+
+    outputs:
+      short_git_sha: ${{ steps.vars.outputs.SHORT_GIT_SHA }}
+      short_git_version_string: ${{ steps.vars.outputs.SHORT_GIT_VERSION_STRING }}
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Set short git commit SHA
+        id: vars
+        run: |
+          calculatedSha=$(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:
+          platforms: amd64,arm64
+
+      - name: Set up Docker Buildx
+        id: buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Log in to GitHub Container Registry
+        uses: docker/login-action@v3
+        with:
+          registry: ghcr.io
+          username: ${{ github.repository_owner }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Container metadata for runtime base image
+        id: meta # referenced from later step
+        uses: docker/metadata-action@v5
+        with:
+          images: ghcr.io/tiiuae/tii-fognav-msgs
+          tags: |
+            type=ref,event=branch
+            type=ref,event=pr
+            type=semver,pattern={{raw}}
+            type=sha
+            type=raw,value=latest,enable=${{ endsWith(github.ref, github.event.repository.default_branch) }}
+
+      - name: Build and push runtime base image
+        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=fognav-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: ${{ steps.meta.outputs.labels }}
+          # Needed because we have to create a manifest list in the next job.
+          provenance: mode=min
+
+      - name: Create container and copy deb packages
+        run: |
+          platforms=("amd64" "arm64")
+          for platform in "${platforms[@]}"; do
+            docker create -ti --name "fognav-msgs-build-temp-$platform" --platform=linux/$platform $(echo "${{ steps.meta.outputs.tags }}" | head -1) bash
+            docker cp "fognav-msgs-build-temp-$platform:/output_dir/." ./output_dir
+            docker rm "fognav-msgs-build-temp-$platform"
+          done
+
+      - name: Upload .deb packages as artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: deb-packages
+          path: ./output_dir/*.deb
+
+jobs:
+  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 -la ./deb-packages
+

.gitignore

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+build/
+msg/idl.cc
+bin

Dockerfile

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+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 $GIT_VERSION_STRING
+
+RUN apt-get update -y && apt-get install -y --no-install-recommends \
+    curl \
+    python3-bloom \
+    dh-make \
+    libboost-dev \
+    ros-${ROS_DISTRO}-geographic-msgs \
+    && rm -rf /var/lib/apt/lists/*
+
+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 mkdir -p /output_dir && cp /main_ws/*.deb /output_dir/
+
+FROM alpine:edge
+COPY --from=builder /output_dir/*.deb /output_dir/
+CMD ["sh"]

package.sh

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+#!/bin/bash
+
+set -eo pipefail
+
+usage() {
+	echo "
+Usage: $(basename "$0") [-h] [-b nbr] [-d dist]
+ -- Generate debian package from fog_sw module.
+Params:
+    -h  Show help text.
+    -b  Build number. This will be tha last digit of version string (x.x.N).
+    -d  Distribution string in debian changelog.
+    -g  Git commit hash.
+    -v  Git version string
+    -o  Output dir
+"
+	exit 0
+}
+
+check_arg() {
+	if [ "$(echo $1 | cut -c1)" = "-" ]; then
+		return 1
+	else
+		return 0
+	fi
+}
+
+error_arg() {
+	echo "$0: option requires an argument -- $1"
+	usage
+}
+
+# this should refer to the repo's root dir.
+# this used some clever tricks before, but now using just assumption that this is invoked from repo root.
+mod_dir="$(pwd)"
+build_nbr=0
+distr=""
+version=""
+git_commit_hash=""
+git_version_string=""
+output_dir="build_output/"
+
+while getopts "hb:d:g:v:o:" opt
+do
+	case $opt in
+		h)
+			usage
+			;;
+		b)
+			check_arg $OPTARG && build_nbr=$OPTARG || error_arg $opt
+			;;
+		d)
+			check_arg $OPTARG && distr=$OPTARG || error_arg $opt
+			;;
+		g)
+			check_arg $OPTARG && git_commit_hash=$OPTARG || error_arg $opt
+			;;
+		v)
+			check_arg $OPTARG && git_version_string=$OPTARG || error_arg $opt
+			;;
+		o)
+			check_arg $OPTARG && output_dir=$OPTARG || error_arg $opt
+			;;
+		\?)
+			usage
+			;;
+	esac
+done
+
+if [[ "$git_commit_hash" == "0" || -z "$git_commit_hash" ]]; then
+	git_commit_hash="$(git rev-parse HEAD)"
+fi
+if [[ "$git_version_string" == "0" || -z "$git_version_string" ]]; then
+	git_version_string="$(git log --date=format:%Y%m%d --pretty=~git%cd.%h -n 1)"
+fi
+
+## Remove trailing '/' mark in module dir, if exists
+mod_dir=$(echo $mod_dir | sed 's/\/$//')
+
+## Debug prints
+echo 
+echo "[INFO] mod_dir: ${mod_dir}."
+echo "[INFO] build_nbr: ${build_nbr}."
+echo "[INFO] distr: ${distr}."
+echo "[INFO] git_commit_hash: ${git_commit_hash}."
+echo "[INFO] git_version_string: ${git_version_string}."
+
+cd $mod_dir
+
+## Generate package
+echo "[INFO] Creating deb package..."
+### ROS2 Packaging
+
+### Create version string
+version=$(grep "<version>" package.xml | sed 's/[^>]*>\([^<"]*\).*/\1/')
+
+echo "[INFO] Version: ${version}."
+
+if [ -e ${mod_dir}/ros2_ws ]; then
+	# From fog-sw repo.
+	source ${mod_dir}/ros2_ws/install/setup.bash
+fi
+if [ -e ${mod_dir}/deps_ws ]; then
+	source ${mod_dir}/deps_ws/install/setup.bash
+fi
+
+# Speed up builds.
+# In addition to the following environmental variable,
+# --parallel flag is needed in "fakeroot debian/rules binary" call.
+export DEB_BUILD_OPTIONS="parallel=`nproc`"
+
+# generates makefile at debian/rules, which is used to invoke the actual build.
+bloom-generate rosdebian --os-name ubuntu --os-version jammy --ros-distro ${ROS_DISTRO} --place-template-files
+
+sed -i "s/@(DebianInc)@(Distribution)/@(DebianInc)/" debian/changelog.em
+
+# modify the distribution in the template and ignore warnings from sed and not stop the script.
+[ ! "$distr" = "" ] && sed -i "s/@(Distribution)/${distr}/" debian/changelog.em || :
+
+bloom-generate rosdebian --os-name ubuntu --os-version jammy --ros-distro ${ROS_DISTRO} --process-template-files -i ${build_nbr}${git_version_string}
+
+sed -i 's/^\tdh_shlibdeps.*/& --dpkg-shlibdeps-params=--ignore-missing-info/g' debian/rules
+
+sed -i "s/\=\([0-9]*\.[0-9]*\.[0-9]*\*\)//g" debian/control
+
+debian/rules clean
+
+# the actual build process magic.
+# internally it calls debhelper with something like "$ dh binary --parallel -v --buildsystem=cmake --builddirectory=.obj-x86_64-linux-gnu"
+# debhelper uses cmake to run the build, and after it wrap it in a .deb package.
+debian/rules "binary --parallel"
+
+mkdir -p "$output_dir"
+
+echo "[INFO] Move debian packages."
+cp ${mod_dir}/../*.deb "$output_dir"
+# Some components do not produce ddeb packages.
+if ls ${mod_dir}/../*.ddeb 1> /dev/null 2>&1; then
+	cp ${mod_dir}/../*.ddeb "$output_dir"
+fi
+
+echo "[INFO] Done."
+exit 0