simplified build process

.github/workflows/tii-mocap-pose.yaml

@@ -2,47 +2,17 @@ name: tii-mocap-pose
 
 on:
   push:
-    branches: main
-    tags:
-      - 'v*'
-      - v[0-9]+.[0-9]+.[0-9]+
-      - v[0-9]+.[0-9]+.[0-9]+-rc.[0-9]+
-  pull_request:
-    branches: [ main ]
 
 jobs:
-  tii-mocap-pose:
+  build:
     runs-on: ubuntu-latest
-    services:
-      registry:
-        image: registry:2
-        ports:
-          - 5000:5000
     steps:
-
-      - name: Checkout mocap_pose
-        uses: actions/checkout@v2
+      - uses: actions/checkout@v2
         with:
-          submodules: recursive
+          submodules: true
 
       - uses: docker/setup-buildx-action@v1
 
-      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v1
-        with:
-          driver-opts: network=host
-
-      - name: Build the builder container image
-        uses: docker/build-push-action@v2
-        with:
-          context: .
-          file: ./Dockerfile.build_env
-          push: true
-          tags: localhost:5000/tiiuae/mocap_pose:build_env
-          build-args: |
-            PACKAGE_NAME=mocap_pose
-            ROS_DISTRO=galactic
-
       - name: Docker meta
         id: meta
         uses: docker/metadata-action@v3
@@ -56,21 +26,15 @@ jobs:
 
       - name: Login to GitHub Container Registry
         uses: docker/login-action@v1
-        if: github.event_name == 'push'
         with:
           registry: ghcr.io
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
-      - name: Build tii-mocap-pose image and push
+      - name: Build container image and push
         uses: docker/build-push-action@v2
         with:
           context: .
-          file: ./Dockerfile
-          push: ${{ github.event_name != 'pull_request' }}
+          push: true
           tags: ${{ steps.meta.outputs.tags }}
           labels: ${{ steps.meta.outputs.labels }}
-          build-args: |
-            PACKAGE_NAME=mocap_pose
-            ROS_DISTRO=galactic
-            FROM_IMAGE=localhost:5000/tiiuae/mocap_pose:build_env

Dockerfile

@@ -1,33 +1,21 @@
-# fog-sw BUILDER
-ARG FROM_IMAGE
-FROM $FROM_IMAGE as fog-sw-builder
-ARG ROS_DISTRO="galactic"
-ARG UID=1000
-ARG GID=1000
-ARG PACKAGE_NAME
-
-WORKDIR /$PACKAGE_NAME/main_ws
-USER root
-ADD . /$PACKAGE_NAME/main_ws/src
-RUN chown -R builder:builder /$PACKAGE_NAME/main_ws
-
-USER builder
-
-RUN if [ -e /$PACKAGE_NAME/deps_ws ]; then \
-        . /$PACKAGE_NAME/deps_ws/install/setup.sh && \
-        colcon build; \
-    elif [ -e /opt/ros/${ROS_DISTRO}/setup.sh ]; then \
-        . /opt/ros/${ROS_DISTRO}/setup.sh && \
-        colcon build; \
-    fi
-
-RUN sed --in-place \
-      's|^source .*|source "/'$PACKAGE_NAME'/main_ws/install/setup.bash"|' \
-      /$PACKAGE_NAME/entrypoint.sh && \  
-        chmod +x /$PACKAGE_NAME/entrypoint.sh
-
-ENV PACKAGE_NAME $PACKAGE_NAME
-ENV RMW_IMPLEMENTATION rmw_fastrtps_cpp
-
-WORKDIR /$PACKAGE_NAME
-ENTRYPOINT "/"$PACKAGE_NAME"/entrypoint.sh"
+FROM ghcr.io/tiiuae/fog-ros-baseimage:builder-latest AS builder
+
+COPY . /main_ws/src/
+
+# this:
+# 1) builds the application
+# 2) packages the application as .deb in build_output/
+
+# RUN /packaging/build-and-package-as-deb.sh -o build_output/
+RUN /packaging/build.sh
+
+#  ▲               runtime ──┐
+#  └── build                 ▼
+
+FROM ghcr.io/tiiuae/fog-ros-baseimage:sha-d2cdcdb
+
+ENTRYPOINT exec ros-with-env ros2 launch mocap_pose mocap_pose.launch
+
+COPY --from=builder /main_ws/ros-*-mocap-pose_*_amd64.deb /mocap-pose.deb
+
+RUN dpkg -i /mocap-pose.deb && rm /mocap-pose.deb