chore: add arm64 for raspi

.github/workflows/build-docker-image.yaml

@@ -25,6 +25,12 @@ jobs:
   docker:
     name: Build Docker Image
     runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        platform:
+          - linux/amd64
+          - linux/arm64
 
     steps:
       - uses: actions/checkout@v4
@@ -33,6 +39,11 @@ jobs:
         with:
           ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
 
+      - name: Setup QEMU
+        uses: docker/setup-qemu-action@v3
+        with:
+          platforms: ${{ matrix.platform }}
+
       - name: Setup Docker Buildx
         uses: docker/setup-buildx-action@v3
 
@@ -46,13 +57,17 @@ jobs:
       - name: Set up Docker image tag
         run: echo "DOCKER_IMAGE_TAG=ghcr.io/$(echo ${{ github.repository_owner }} | tr '[:upper:]' '[:lower:]')/${{ env.DOCKER-IMAGE }}:${{ env.DOCKER-TAG }}" >> $GITHUB_ENV
 
-      - name: Build and push
+      - name: Build and push Docker Image
         uses: docker/build-push-action@v3
         with:
           context: ${{ env.DOCKER-CONTEXT }}
           file: ${{ env.DOCKER-FILE }}
+          platforms: ${{ matrix.platform }}
           tags: ${{ env.DOCKER_IMAGE_TAG }}
-          build-args: USERNAME=runner
+          build-args: |  
+            USERNAME=runner
+            QEMU_CPU=cortex-a53
+            TARGETPLATFORM=${{ matrix.platform }}
           ssh: default=${{ env.SSH_AUTH_SOCK }}
           no-cache: true
           push: false

.github/workflows/push-docker-image.yaml

@@ -17,6 +17,12 @@ jobs:
   docker:
     name: Build Docker Image
     runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        platform:
+          - linux/amd64
+          - linux/arm64
     if: ${{ github.event.workflow_run.conclusion == 'success' && github.event.workflow_run.head_branch == 'main' }}
 
     steps:
@@ -26,6 +32,11 @@ jobs:
         with:
           ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
 
+      - name: Setup QEMU
+        uses: docker/setup-qemu-action@v3
+        with:
+          platforms: ${{ matrix.platform }}
+
       - name: Setup Docker Buildx
         uses: docker/setup-buildx-action@v3
 
@@ -39,13 +50,17 @@ jobs:
       - name: Set up Docker image tag
         run: echo "DOCKER_IMAGE_TAG=ghcr.io/$(echo ${{ github.repository_owner }} | tr '[:upper:]' '[:lower:]')/${{ env.DOCKER-IMAGE }}:${{ env.DOCKER-TAG }}" >> $GITHUB_ENV
 
-      - name: Build and push
+      - name: Build and push Docker Image
         uses: docker/build-push-action@v3
         with:
           context: ${{ env.DOCKER-CONTEXT }}
           file: ${{ env.DOCKER-FILE }}
+          platforms: ${{ matrix.platform }}
           tags: ${{ env.DOCKER_IMAGE_TAG }}
-          build-args: USERNAME=runner
+          build-args: |
+            USERNAME=runner
+            QEMU_CPU=cortex-a53
           ssh: default=${{ env.SSH_AUTH_SOCK }}
           no-cache: true
           push: true
+

Dockerfile

@@ -1,9 +1,10 @@
- FROM osrf/ros:humble-desktop-full
+FROM osrf/ros:humble-desktop-full
 
 SHELL ["/bin/bash", "-c"]
 
 # 引数
 ARG USERNAME="root"
+ARG TARGETPLATFORM
 
 # 環境変数の設定
 ENV USER=$USERNAME \
@@ -36,10 +37,21 @@ USER $USERNAME
 RUN mkdir -m 700 ~/.ssh && \
     ssh-keyscan github.com > $HOME/.ssh/known_hosts
 
-RUN --mount=type=ssh,uid=1000 source <(curl -s https://raw.githubusercontent.com/Shinsotsu-Tsukuba-Challenger/trainee/main/setup.sh) && \
-    : "remove cache" && \
-    sudo apt-get autoremove -y -qq && \
-    sudo rm -rf /var/lib/apt/lists/*
+# アーキがamd64だったら実行
+RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then \
+      --mount=type=ssh,uid=1000 source <(curl -s https://raw.githubusercontent.com/Shinsotsu-Tsukuba-Challenger/trainee/main/setup.sh) pc && \
+      : "remove cache" && \
+      sudo apt-get autoremove -y -qq && \
+      sudo rm -rf /var/lib/apt/lists/*; \
+    fi
+
+# アーキがarm64だったら実行
+RUN if [ "$TARGETPLATFORM" = "linux/arm64" ]; then \
+      --mount=type=ssh,uid=1000 source <(curl -s https://raw.githubusercontent.com/Shinsotsu-Tsukuba-Challenger/trainee/main/setup.sh) raspi && \
+      : "remove cache" && \
+      sudo apt-get autoremove -y -qq && \
+      sudo rm -rf /var/lib/apt/lists/*; \
+    fi
 
 # 設定の書き込み
 RUN echo "source /etc/bash_completion" >> $HOME/.bashrc && \