3 build pipeline to push images into gh container registry

.github/workflows/build_and_push_docker_images.yml

@@ -0,0 +1,104 @@
+# source: https://docs.github.com/en/actions/tutorials/publish-packages/publish-docker-images#publishing-images-to-github-packages
+name: Create and publish a Docker image
+
+# Configures this workflow to run every time a change is pushed to the branch called `release`.
+on:
+  push:
+    branches: ['main', '3-build-pipeline-to-push-images-into-gh-container-registry']
+
+# Defines two custom environment variables for the workflow. These are used for the Container registry domain, and a name for the Docker image that this workflow builds.
+env:
+  REGISTRY: ghcr.io
+  IMAGE_NAME: ${{ github.repository }}
+  ROS_DISTRO: jazzy
+
+# There is a single job in this workflow. It's configured to run on the latest available version of Ubuntu.
+jobs:
+  build-and-push-image:
+    runs-on: ubuntu-latest
+    # Sets the permissions granted to the `GITHUB_TOKEN` for the actions in this job.
+    permissions:
+      contents: read
+      packages: write
+      attestations: write
+      id-token: write    
+    strategy:
+      matrix:
+        variant:
+          - name: teleop
+            platforms: linux/arm64
+            context: .
+            file: ./docker/Dockerfile-teleop
+          - name: ricbot
+            platforms: linux/arm64
+            context: .
+            file: ./docker/Dockerfile-robot
+        #   - name: ui
+        #     platforms: linux/arm64
+        #     context: ./svelte-ui/
+        #     file: ./svelte-ui/docker/Dockerfile
+        #   - name: ui_com
+        #     platforms: linux/arm64
+        #     context: ./helloric_ui_com/
+        #     file: ./helloric_ui_com/Dockerfile
+          - name: ds4
+            platforms: linux/arm64
+            context: .
+            file: ./docker/Dockerfile-ds4
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v5
+        with:
+            submodules: recursive
+      # Uses the `docker/login-action` action to log in to the Container registry registry using the account and password that will publish the packages. Once published, the packages are scoped to the account defined here.
+      - name: Log in to the Container registry
+        uses: docker/login-action@65b78e6e13532edd9afa3aa52ac7964289d1a9c1
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+      # as suggested here:   https://github.com/docker/build-push-action
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+          #  This step uses [docker/metadata-action](https://github.com/docker/metadata-action#about) to extract tags and labels that will be applied to the specified image. The `id` "meta" allows the output of this step to be referenced in a subsequent step. The `images` value provides the base name for the tags and labels.
+      - name: Extract metadata (tags, labels) for Docker
+        id: meta
+        uses: docker/metadata-action@9ec57ed1fcdbf14dcef7dfbe97b2010124a938b7
+        with:
+          images: ${{ env.REGISTRY }}/helloric/${{ matrix.variant.name }}
+          tags: |
+            type=raw,value=${{ github.sha }}
+            type=raw,value=latest
+          labels: |
+            labels: |
+                org.opencontainers.image.title=HelloRic ${{ matrix.variant.name }}
+                org.opencontainers.image.description=Docker image for HelloRic ${{ matrix.variant.name }} node
+                org.opencontainers.image.url=https://github.com/helloric/robot-nodes
+                org.opencontainers.image.vendor=DFKI RIC
+                org.opencontainers.image.licenses=3-Clause BSD License
+      # This step uses the `docker/build-push-action` action to build the image, based on your repository's `Dockerfile`. If the build succeeds, it pushes the image to GitHub Packages.
+      # It uses the `context` parameter to define the build's context as the set of files located in the specified path. For more information, see [Usage](https://github.com/docker/build-push-action#usage) in the README of the `docker/build-push-action` repository.
+      # It uses the `tags` and `labels` parameters to tag and label the image with the output from the "meta" step.
+      - name: Build and push ALL Docker images
+        id: push
+        uses: docker/build-push-action@f2a1d5e99d037542a71f64918e516c093c6f3fc4
+        with:
+          context: ${{ matrix.variant.context }}
+          file: ${{ matrix.variant.file }}
+          build-args: |
+            ROS_DISTRO=${{ env.ROS_DISTRO }}
+          push: true
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          platforms: ${{ matrix.variant.platforms }}
+
+      # This step generates an artifact attestation for the image, which is an unforgeable statement about where and how it was built. It increases supply chain security for people who consume the image. For more information, see [Using artifact attestations to establish provenance for builds](/actions/security-guides/using-artifact-attestations-to-establish-provenance-for-builds).
+      - name: Generate artifact attestation
+        uses: actions/attest-build-provenance@v3
+        with:
+          subject-name: ${{ env.REGISTRY }}/helloric/${{ matrix.variant.name }}
+          subject-digest: ${{ steps.push.outputs.digest }}
+          push-to-registry: true
+

compose.yml

@@ -10,7 +10,7 @@ services:
         - "linux/arm64"
       args:
         ROS_DISTRO: jazzy
-    image: harbor.hb.dfki.de/helloric/ricbot:jazzy_arm64_001
+    image: ghcr.io/helloric/ricbot:latest
     environment:
       - PYTHONUNBUFFERED=1 # important to show error messages if a ros service crashes!
     volumes:
@@ -27,7 +27,7 @@ services:
     platform: "linux/arm64"
     depends_on:
       - ui_com
-    image: harbor.hb.dfki.de/helloric/ui:arm64_001
+    image: ghcr.io/helloric/svelte-ui:latest
     build:
       context: ./svelte-ui/
       dockerfile: ./docker/Dockerfile
@@ -37,7 +37,7 @@ services:
   ui_com:
     restart: always
     platform: "linux/arm64"
-    image: harbor.hb.dfki.de/helloric/ui_com:jazzy_arm64_001
+    image: ghcr.io/helloric/helloric_ui_com:latest
     build:
       context: ./helloric_ui_com/
       dockerfile: ./Dockerfile
@@ -57,7 +57,7 @@ services:
         ROS_DISTRO: jazzy
     stdin_open: true
     tty: true
-    image: harbor.hb.dfki.de/helloric/teleop:jazzy_arm64_001
+    image: ghcr.io/helloric/teleop:latest
 
   ds4:
     platform: "linux/arm64"
@@ -69,4 +69,4 @@ services:
     devices:
       - /dev:/dev
     privileged: true
-    image: harbor.hb.dfki.de/helloric/ds4:jazzy_arm64_001
+    image: ghcr.io/helloric/ds4:latest

docker/Dockerfile-ds4

@@ -25,7 +25,8 @@ WORKDIR /opt/underlay_ws
 RUN mkdir src \
     && cd src \
     && git clone https://github.com/naoki-mizuno/ds4_driver \
-        --branch ${ROS_DISTRO}-devel
+        --branch humble-devel
+        # TODO: switch to jazzy-devel when available or better use the ROS_DISTRO arg
 RUN bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash && colcon build"
 
 COPY ./docker/entrypoint-ds4.bash /entrypoint.bash