feat(ci): use BuildJet as self-hosted runner

.github/actions/docker-build-and-push/action.yaml

@@ -25,12 +25,6 @@ runs:
     - name: Setup Docker Buildx
       uses: docker/setup-buildx-action@v2
 
-    - name: Install jq
-      run: |
-        sudo apt-get -y update
-        sudo apt-get -y install jq
-      shell: bash
-
     - name: Set Docker tags
       id: set-docker-tags
       run: |
@@ -123,7 +117,6 @@ runs:
           ${{ inputs.build-args }}
 
     - name: Build and Save Artifacts
-      if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }}
       uses: docker/bake-action@v3
       with:
         push: false

.github/workflows/docker-build-and-push-main.yaml

@@ -7,13 +7,7 @@
 name: docker-build-and-push-main
 
 on:
-  push:
-    tags:
-      - adkit-v*.*.*
-    branches:
-      - main
-  schedule:
-    - cron: 0 0 1,15 * *
+  pull_request:
   workflow_dispatch:
     inputs:
       artifacts-destination:
@@ -26,7 +20,7 @@
 
 jobs:
   docker-build-and-push-main:
-    runs-on: ubuntu-latest
+    runs-on: buildjet-4vcpu-ubuntu-2204
     strategy:
       fail-fast: false
       matrix:
@@ -44,12 +38,22 @@
             lib_dir: x86_64
             additional-tag-suffix: -cuda
     steps:
+      - name: Check if PR author is the specific user
+        id: author-check
+        run: |
+          PR_AUTHOR=$(jq -r '.pull_request.user.login' "$GITHUB_EVENT_PATH")
+          if [[ "$PR_AUTHOR" == "youtalk" ]]; then
+            echo "$PR_AUTHOR is a target user"
+            echo "author-found=true" >> $GITHUB_OUTPUT
+          else
+            echo "$PR_AUTHOR is not a target user"
+            echo "author-found=false" >> $GITHUB_OUTPUT
+          fi
+        shell: bash
+
       - name: Check out repository
         uses: actions/checkout@v4
 
-      - name: Free disk space
-        uses: ./.github/actions/free-disk-space
-
       - name: Load env
         run: |
           cat amd64.env | sed -e "s/^\s*//" -e "/^#/d" >> $GITHUB_ENV
@@ -58,6 +62,7 @@
           fi
 
       - name: Build 'autoware-openadk'
+        if: steps.author-check.outputs.author-found == 'true'
         uses: ./.github/actions/docker-build-and-push
         with:
           bake-target: autoware-openadk
@@ -70,7 +75,3 @@
           tag-suffix: ${{ matrix.additional-tag-suffix }}-amd64
           tag-prefix: ${{ env.rosdistro }}
           allow-push: true
-
-      - name: Show disk space
-        run: |
-          df -h

docker/autoware-openadk/Dockerfile

@@ -66,15 +66,17 @@ RUN --mount=type=ssh \
   && apt-get update \
   && rosdep update \
   && DEBIAN_FRONTEND=noninteractive rosdep install -y --ignore-src --from-paths src --rosdistro "$ROS_DISTRO" \
-  && source /opt/ros/"$ROS_DISTRO"/setup.bash \
+  && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
+
+# Build Autoware
+RUN source /opt/ros/"$ROS_DISTRO"/setup.bash \
   && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --cmake-args \
     " -Wno-dev" \
     " --no-warn-unused-cli" \
     -DCMAKE_BUILD_TYPE=Release \
     -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
   && find /autoware/install -type d -exec chmod 777 {} \; \
   && chmod -R 777 /var/tmp/ccache \
-  && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache \
   && rm -rf /autoware/build /autoware/src
 
 CMD ["/bin/bash"]