first test at building base images

WATonomous · Dec 22, 2023 · f18fc21 · f18fc21
1 parent 6c8d606
commit f18fc21
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diff --git a/.github/include/base_image_config.json b/.github/include/base_image_config.json
@@ -1,15 +1,114 @@
 [
     {
         "tag": "humble-ubuntu22.04",
-        "external_image": "ros:humble-ros-base",
-        "injections": {}
+        "external_image": "ros:humble-ros-runtime"
     },
+
+
+
+
+
     {
-        "tag": "cuda11.2-tensorrt8.6.0-humble-ubuntu22.04",
-        "external_image": "ros:humble-ros-base",
+        "tag": "cuda11.0-foxy-ubuntu20.04",
+        "external_image": "nvcr.io/nvidia/cuda:11.0.3-runtime-ubuntu20.04",
         "injections": {
-            "ros2": "humble",
-            "tensorrt": "nv-tensorrt-local-repo-ubuntu2204-8.6.0-cuda-12.0_1.0-1_amd64"
+            "ros2": "foxy"
+        }
+    },
+    {
+        "tag": "cuda11.2-foxy-ubuntu20.04",
+        "external_image": "nvcr.io/nvidia/cuda:11.2.2-runtime-ubuntu20.04",
+        "injections": {
+            "ros2": "foxy"
+        }
+    },
+    {
+        "tag": "cuda11.4-foxy-ubuntu20.04",
+        "external_image": "nvcr.io/nvidia/cuda:11.4.3-runtime-ubuntu20.04",
+        "injections": {
+            "ros2": "foxy"
+        }
+    },
+    {
+        "tag": "cuda11.7-humble-ubuntu22.04",
+        "external_image": "nvcr.io/nvidia/cuda:11.7.1-runtime-ubuntu22.04",
+        "injections": {
+            "ros2": "humble"
+        }
+    },
+    {
+        "tag": "cuda11.8-humble-ubuntu22.04",
+        "external_image": "nvcr.io/nvidia/cuda:11.8.0-runtime-ubuntu22.04",
+        "injections": {
+            "ros2": "humble"
+        }
+    },
+    {
+        "tag": "cuda12.0-humble-ubuntu22.04",
+        "external_image": "nvcr.io/nvidia/cuda:12.0.0-runtime-ubuntu22.04",
+        "injections": {
+            "ros2": "humble"
+        }
+    },
+    {
+        "tag": "cuda12.2-humble-ubuntu22.04",
+        "external_image": "nvcr.io/nvidia/cuda:12.2.2-runtime-ubuntu22.04",
+        "injections": {
+            "ros2": "humble"
+        }
+    },
+
+
+
+
+
+    {
+        "tag": "cuda11.0-cudnn8-foxy-ubuntu20.04",
+        "external_image": "nvcr.io/nvidia/cuda:11.0.3-cudnn8-runtime-ubuntu20.04",
+        "injections": {
+            "ros2": "foxy"
+        }
+    },
+    {
+        "tag": "cuda11.2-cudnn8-foxy-ubuntu20.04",
+        "external_image": "nvcr.io/nvidia/cuda:11.2.2-cudnn8-runtime-ubuntu20.04",
+        "injections": {
+            "ros2": "foxy"
+        }
+    },
+    {
+        "tag": "cuda11.4-cudnn8-foxy-ubuntu20.04",
+        "external_image": "nvcr.io/nvidia/cuda:11.4.3-cudnn8-runtime-ubuntu20.04",
+        "injections": {
+            "ros2": "foxy"
+        }
+    },
+    {
+        "tag": "cuda11.7-cudnn8-humble-ubuntu22.04",
+        "external_image": "nvcr.io/nvidia/cuda:11.7.1-cudnn8-runtime-ubuntu22.04",
+        "injections": {
+            "ros2": "humble"
+        }
+    },
+    {
+        "tag": "cuda11.8-cudnn8-humble-ubuntu22.04",
+        "external_image": "nvcr.io/nvidia/cuda:11.8.0-cudnn8-runtime-ubuntu22.04",
+        "injections": {
+            "ros2": "humble"
+        }
+    },
+    {
+        "tag": "cuda12.0-cudnn8-humble-ubuntu22.04",
+        "external_image": "nvcr.io/nvidia/cuda:12.0.0-cudnn8-runtime-ubuntu22.04",
+        "injections": {
+            "ros2": "humble"
+        }
+    },
+    {
+        "tag": "cuda12.2-cudnn8-humble-ubuntu22.04",
+        "external_image": "nvcr.io/nvidia/cuda:12.2.2-cudnn8-runtime-ubuntu22.04",
+        "injections": {
+            "ros2": "humble"
         }
     }
-]
+]
diff --git a/.github/workflows/build_base_images.yml b/.github/workflows/build_base_images.yml
@@ -32,6 +32,21 @@ jobs:
         id: docker-environment
         uses: "./.github/templates/docker_context"
 
+  matrix-prep:
+    runs-on: ubuntu-latest
+    outputs:
+      matrix: ${{ steps.set-matrix.outputs.matrix }}
+    steps:
+      - name: Check out code
+        uses: actions/checkout@v4
+      - id: set-matrix
+        run: |
+          platform=$(echo '${{ inputs.platform }}')
+          matrix=$(jq --arg platform "$platform" 'map(
+              . | select((.run_if==$platform) or (.run_if=="always"))
+          )' .github/include/base_image_config.json)
+          echo "matrix={\"include\":$(echo $matrix)}" >> $GITHUB_OUTPUT
+
   build:
     name: Build Image and Run Initial Unit Testing Suite
     runs-on: ubuntu-latest
@@ -43,16 +58,7 @@ jobs:
 
     strategy:
       fail-fast: false
-      matrix:
-        include:
-          - tag: humble-ubuntu22.04
-            external_image: ros:humble-ros-base
-          - tag: cuda12.0.1-humble-ubuntu22.04
-            dockerfile: cuda_ros.Dockerfile
-            params:
-              UBUNTU_DISTRO: ubuntu22.04
-              CUDA_VERSION: 12.0.1
-              ROS_DISTRO: humble
+      matrix: ${{ fromJSON(needs.matrix-prep.outputs.matrix) }}
 
     steps:
       # Initial workflow setup
@@ -76,11 +82,12 @@ jobs:
           username: ${{ secrets.GHCR_USER }}
           password: ${{ secrets.GHCR_PWD }}
 
-      - name: Build Generic Image
+      - name: Inject ROS2 into Image
+        if: $( -z "${{ matrix.injections.ros2 }}" )
         uses: docker/build-push-action@v5
         with:
           context: .
-          file: docker/base/${{ matrix.dockerfile }}
+          file: docker/base/inject_ros2.Dockerfile
           push: true
           tags: |
             ${{ steps.construct-registry-url.outputs.url }}_generic
@@ -89,10 +96,9 @@ jobs:
           cache-to: type=inline
           builder: ${{ steps.buildx.outputs.name }}
           target: devel 
-          build-args: |  
-            UBUNTU_DISTRO=${{ matrix.params.UBUNTU_DISTRO }}
-            CUDA_VERSION=${{ matrix.params.CUDA_VERSION }}
-            ROS_DISTRO=${{ matrix.params.ROS_DISTRO }}
+          build-args: |
+            GENERIC_BASE=${{ matrix.external_image }}
+            ROS_DISTRO=${{ matrix.injections.ros2 }}
 
       - name: Prepare Generic Image as Monorepo Base Image
         uses: docker/build-push-action@v5