Docker build with matrix

.github/workflows/docker-build.yaml

@@ -0,0 +1,133 @@
+name: docker-build
+
+# Only build base when any of the files in the base directory are modified
+on:
+  push:
+    branches: [master, build_jetson]
+    tags:
+      - '*'
+  workflow_dispatch:
+  schedule:
+    - cron: '0 0 * * 0'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        platform:
+          - linux/amd64
+          - linux/arm64
+
+    steps:
+      # -
+      #   name: Free Disk Space
+      #   uses: jlumbroso/free-disk-space@main
+      #   with:
+      #     tool-cache: true
+      -
+        name: Prepare
+        run: |
+          platform=${{ matrix.platform }}
+          echo "PLATFORM_PAIR=${platform//\//-}" >> $GITHUB_ENV
+      -
+        name: Checkout
+        uses: actions/checkout@v4
+      -
+        name: Set platform-specific build-args
+        id: set_build_args
+        run: |
+          export $(cat build.bash | grep UPSTREAM_X86_64 | sed 's/^export //')
+          export $(cat build.bash | grep UPSTREAM_AARCH64 | sed 's/^export //')
+          if [ "${{ matrix.platform }}" = "linux/amd64" ]; then
+            echo "upstream_image=$UPSTREAM_X86_64" >> $GITHUB_ENV
+          elif [ "${{ matrix.platform }}" = "linux/arm64" ]; then
+            echo "upstream_image=$UPSTREAM_AARCH64" >> $GITHUB_ENV
+          else
+            echo "Architecture not supported"
+            exit 1
+          fi
+      
+      - name: Docker meta
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          # list of Docker images to use as base name for tags
+          images: |
+            kumarrobotics/dcist-master
+
+      -
+        name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+      -
+        name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+      -
+        name: Login to DockerHub
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+      -
+        name: Build and push
+        id: docker_build
+        uses: docker/build-push-action@v5
+        with:
+          context: "{{defaultContext}}:dcist-master"
+          platforms: ${{ matrix.platform }}
+          labels: ${{ steps.meta.outputs.labels }}
+          tags: ${{ steps.meta.outputs.tags }}
+          build-args: upstream_image=${{ env.upstream_image }}
+          outputs: type=image,name=${{ env.REGISTRY_IMAGE }},push-by-digest=true,name-canonical=true,push=true
+      -
+        name: Export digest
+        run: |
+          mkdir -p /tmp/digests
+          digest="${{ steps.build.outputs.digest }}"
+          touch "/tmp/digests/${digest#sha256:}"
+      -
+        name: Upload digest
+        uses: actions/upload-artifact@v4
+        with:
+          name: digests-${{ env.PLATFORM_PAIR }}
+          path: /tmp/digests/*
+          if-no-files-found: error
+          retention-days: 1
+  merge:
+    runs-on: ubuntu-latest
+    needs:
+      - build
+    steps:
+      -
+        name: Download digests
+        uses: actions/download-artifact@v4
+        with:
+          path: /tmp/digests
+          pattern: digests-*
+          merge-multiple: true
+      -
+        name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+      -
+        name: Docker meta
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: ${{ env.REGISTRY_IMAGE }}
+      -
+        name: Login to Docker Hub
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+      -
+        name: Create manifest list and push
+        working-directory: /tmp/digests
+        run: |
+          docker buildx imagetools create $(jq -cr '.tags | map("-t " + .) | join(" ")' <<< "$DOCKER_METADATA_OUTPUT_JSON") \
+            $(printf '${{ env.REGISTRY_IMAGE }}@sha256:%s ' *)          
+      -
+        name: Inspect image
+        run: |
+          docker buildx imagetools inspect ${{ env.REGISTRY_IMAGE }}:${{ steps.meta.outputs.version }}  

README.md

@@ -11,8 +11,6 @@ TL;DR:
  - It copies the `ws` main dcist workspace and builds it.
  - It provides helper scripts `build.bash`, `run.bash` and `join.bash`
 
-**Important: Only tagged versions are pushed as the `latest` image.**
-
 ### How to use?
 ```
 docker pull kumarrobotics/dcist-master:latest
@@ -25,3 +23,12 @@ docker pull kumarrobotics/dcist-master:latest
 ```
 ./build.bash dcist-master
 ```
+
+### Notes on image building
+
+**Important: Only tagged versions are pushed as the `latest` image.**
+
+Github actions build and push docker images for `kumarrobotics/dcist-master` in
+Docker Hub. The upstream image is different for x86_64 and arm64, and it can be
+defined in `build.bash`.
+

build.bash

@@ -23,8 +23,10 @@ set -eo pipefail
 # Upstream images for x86_64 and aarch64
 # For x86_64, use the CUDA 11.4.3 image
 # For aarch64, use the L4T PyTorch image
-UPSTREAM_X86_64="nvcr.io/nvidia/cuda:11.4.3-devel-ubuntu20.04"
-UPSTREAM_AARCH64="nvcr.io/nvidia/l4t-pytorch:r35.1.0-pth1.13-py3"
+# Important: do not modify the variable name as it is used by the Github action
+# to build the image
+UPSTREAM_X86_64=nvcr.io/nvidia/cuda:11.4.3-devel-ubuntu20.04
+UPSTREAM_AARCH64=nvcr.io/nvidia/l4t-pytorch:r35.1.0-pth1.13-py3
 
 # Check that the current user has UID 1000.
 if [ $(id -u) -ne 1000 ]