Integrate docker-slim for waaaaaaaay smaller run images

.gitlab-ci/docker-ros.yml

@@ -17,11 +17,15 @@ variables:
   IMAGE_TAG:                  latest                                  # Image tag of run image
   DEV_IMAGE_NAME:             ${IMAGE_NAME}                           # Image name of dev image
   DEV_IMAGE_TAG:              ${IMAGE_TAG}-dev                        # Image tag of dev image
+  SLIM_IMAGE_NAME:            ${IMAGE_NAME}                           # Image name of slim run image
+  SLIM_IMAGE_TAG:             ${IMAGE_TAG}-slim                       # Image tag of slim run image
   BUILD_CONTEXT:              .                                       # Build context of Docker build process
   REGISTRY:                   ${CI_REGISTRY}                          # Docker registry to push images to
   REGISTRY_USER:              ${CI_REGISTRY_USER}                     # Docker registry username
   REGISTRY_PASSWORD:          ${CI_REGISTRY_PASSWORD}                 # Docker registry password
   ENABLE_INDUSTRIAL_CI:       'false'                                 # Enable industrial_ci
+  ENABLE_SLIM:                'true'                                  # Enable an extra slimmed run image via slim (only if run stage is targeted)
+  SLIM_BUILD_ARGS:            '--sensor-ipc-mode proxy --continue-after=10 --show-clogs --http-probe=false'  # Arguments to `slim build` (except for `--target` and `--tag`)
   ENABLE_SINGLEARCH_PUSH:     'false'                                 # Enable push of single arch images with [-amd64|-arm64] postfix
   ENABLE_PUSH_AS_LATEST:      'false'                                 # Push images with tag `latest`/`latest-dev` in addition to the configured image names
   RMW_IMPLEMENTATION:         'rmw_cyclonedds_cpp'                    # RMW implementation to use (only for ROS 2)
@@ -47,19 +51,26 @@ variables:
 
   _RUN_IMAGE:             ${IMAGE_NAME}:${IMAGE_TAG}
   _DEV_IMAGE:             ${DEV_IMAGE_NAME}:${DEV_IMAGE_TAG}
+  _SLIM_IMAGE:            ${SLIM_IMAGE_NAME}:${SLIM_IMAGE_TAG}
 
   _IMAGE_DEV_CI:          ${_DEV_IMAGE}_${CI_COMMIT_REF_SLUG}_ci
   _IMAGE_RUN_CI:          ${_RUN_IMAGE}_${CI_COMMIT_REF_SLUG}_ci
+  _IMAGE_SLIM_CI:         ${_SLIM_IMAGE}_${CI_COMMIT_REF_SLUG}_ci
   _IMAGE_DEV_CI_AMD64:    ${_IMAGE_DEV_CI}-amd64
   _IMAGE_DEV_CI_ARM64:    ${_IMAGE_DEV_CI}-arm64
   _IMAGE_RUN_CI_AMD64:    ${_IMAGE_RUN_CI}-amd64
   _IMAGE_RUN_CI_ARM64:    ${_IMAGE_RUN_CI}-arm64
+  _IMAGE_SLIM_CI_AMD64:   ${_IMAGE_SLIM_CI}-amd64
+  _IMAGE_SLIM_CI_ARM64:   ${_IMAGE_SLIM_CI}-arm64
   _IMAGE_DEV_LATEST:      ${DEV_IMAGE_NAME}:latest-dev
   _IMAGE_RUN_LATEST:      ${IMAGE_NAME}:latest
+  _IMAGE_SLIM_LATEST:     ${SLIM_IMAGE_NAME}:latest-slim
   _IMAGE_DEV_TARGET_TAG:  ${_DEV_IMAGE}-${CI_COMMIT_TAG}
   _IMAGE_RUN_TARGET_TAG:  ${_RUN_IMAGE}-${CI_COMMIT_TAG}
+  _IMAGE_SLIM_TARGET_TAG: ${_SLIM_IMAGE}-${CI_COMMIT_TAG}
   _IMAGE_DEV_TAG:         ${DEV_IMAGE_NAME}:${CI_COMMIT_TAG}-dev
   _IMAGE_RUN_TAG:         ${IMAGE_NAME}:${CI_COMMIT_TAG}
+  _IMAGE_SLIM_TAG:        ${SLIM_IMAGE_NAME}:${CI_COMMIT_TAG}-slim
 
   GIT_SUBMODULE_STRATEGY: recursive
   DOCKER_DRIVER: overlay2
@@ -71,6 +82,7 @@ stages:
   - Build dev Images
   - Build run Images
   - Test ROS Industrial CI
+  - Slim Images
   - Push Multi-Arch Images
 
 
@@ -83,7 +95,7 @@ default:
     - amd64
   before_script:
     - echo -e "section_start:`date +%s`:setup_section[collapsed=true]\r\e[0K[docker-ros] Setup docker-ros"
-    - apk add bash
+    - apk add --update bash
     - cd ${BUILD_CONTEXT}
     - |-
       if [[ ! -d docker/docker-ros ]]; then
@@ -120,6 +132,7 @@ dev-amd64:
     _TARGET: dev
     IMAGE: ${_IMAGE_DEV_CI_AMD64}
     ENABLE_SINGLEARCH_PUSH: 'true'
+    ENABLE_SLIM: 'false'
     _IMAGE_POSTFIX: _${CI_COMMIT_REF_SLUG}_ci
 
 dev-arm64:
@@ -133,6 +146,7 @@ dev-arm64:
     _TARGET: dev
     IMAGE: ${_IMAGE_DEV_CI_ARM64}
     ENABLE_SINGLEARCH_PUSH: 'true'
+    ENABLE_SLIM: 'false'
     _IMAGE_POSTFIX: _${CI_COMMIT_REF_SLUG}_ci
 
 run-amd64:
@@ -148,6 +162,7 @@ run-amd64:
     _TARGET: run
     IMAGE: ${_IMAGE_RUN_CI_AMD64}
     ENABLE_SINGLEARCH_PUSH: 'true'
+    ENABLE_SLIM: 'false'
     _IMAGE_POSTFIX: _${CI_COMMIT_REF_SLUG}_ci
 
 run-arm64:
@@ -164,10 +179,12 @@ run-arm64:
     _TARGET: run
     IMAGE: ${_IMAGE_RUN_CI_ARM64}
     ENABLE_SINGLEARCH_PUSH: 'true'
+    ENABLE_SLIM: 'false'
     _IMAGE_POSTFIX: _${CI_COMMIT_REF_SLUG}_ci
 
 
 .test:
+  stage: Test ROS Industrial CI
   variables:
     UPSTREAM_WORKSPACE: ${BUILD_CONTEXT}/.repos
     TARGET_WORKSPACE: ${BUILD_CONTEXT}
@@ -186,7 +203,6 @@ run-arm64:
   script: .industrial_ci/gitlab.sh
 
 Test dev-amd64:
-  stage: Test ROS Industrial CI
   extends: .test
   needs:
     - job: dev-amd64
@@ -197,7 +213,6 @@ Test dev-amd64:
     _PLATFORM: amd64
 
 Test dev-arm64:
-  stage: Test ROS Industrial CI
   extends: .test
   tags: [privileged, arm64]
   needs:
@@ -209,7 +224,6 @@ Test dev-arm64:
     _PLATFORM: arm64
 
 Test run-amd64:
-  stage: Test ROS Industrial CI
   extends: .test
   needs:
     - job: run-amd64
@@ -220,7 +234,6 @@ Test run-amd64:
     _PLATFORM: amd64
 
 Test run-arm64:
-  stage: Test ROS Industrial CI
   extends: .test
   needs:
     - job: run-arm64
@@ -231,6 +244,51 @@ Test run-arm64:
     _PLATFORM: arm64
 
 
+.slim:
+  stage: Slim Images
+  before_script:
+    - apk add --update --upgrade curl tar
+    - curl -L -o ds.tar.gz ${SLIM_DOWNLOAD_URL}
+    - tar -xvf ds.tar.gz
+    - cd dist_linux*
+    - docker login -u ${REGISTRY_USER} -p ${REGISTRY_PASSWORD} ${REGISTRY}
+    - docker pull ${FAT_IMAGE}
+  script:
+    - ./slim build --target ${FAT_IMAGE} --tag ${SLIM_IMAGE} ${SLIM_BUILD_ARGS}
+    - docker push ${SLIM_IMAGE}
+
+Slim run-amd64:
+  stage: Slim Images
+  extends: .slim
+  needs:
+    - job: run-amd64
+      optional: true
+    - job: Test run-amd64
+      optional: true
+  rules:
+    - if: $ENABLE_SLIM == 'true' && $PLATFORM =~ /.*amd64.*/ && $TARGET =~ /.*run.*/
+  variables:
+    FAT_IMAGE: ${_IMAGE_RUN_CI_AMD64}
+    SLIM_IMAGE: ${_IMAGE_SLIM_CI_AMD64}
+    SLIM_DOWNLOAD_URL: "https://github.com/slimtoolkit/slim/releases/download/1.40.11/dist_linux.tar.gz"
+
+Slim run-arm64:
+  stage: Slim Images
+  extends: .slim
+  tags: [privileged, arm64]
+  needs:
+    - job: run-arm64
+      optional: true
+    - job: Test run-arm64
+      optional: true
+  rules:
+    - if: $ENABLE_SLIM == 'true' && $PLATFORM =~ /.*arm64.*/ && $TARGET =~ /.*run.*/
+  variables:
+    FAT_IMAGE: ${_IMAGE_RUN_CI_ARM64}
+    SLIM_IMAGE: ${_IMAGE_SLIM_CI_ARM64}
+    SLIM_DOWNLOAD_URL: "https://github.com/slimtoolkit/slim/releases/download/1.40.11/dist_linux_arm64.tar.gz"
+
+
 .push:
   needs:
     - job: dev-amd64
@@ -249,6 +307,10 @@ Test run-arm64:
       optional: true
     - job: Test run-arm64
       optional: true
+    - job: Slim run-amd64
+      optional: true
+    - job: Slim run-arm64
+      optional: true
   rules:
     - if: $PLATFORM == '' || $TARGET == ''
       when: never
@@ -263,6 +325,10 @@ Test run-arm64:
           docker manifest create ${IMG_RUN} --amend ${_IMAGE_RUN_CI_AMD64} --amend ${_IMAGE_RUN_CI_ARM64}
           docker manifest push ${IMG_RUN}
         fi
+        if [[ "${ENABLE_SLIM}" == 'true' && "${TARGET}" =~ run ]]; then
+          docker manifest create ${IMG_SLIM} --amend ${_IMAGE_SLIM_CI_AMD64} --amend ${_IMAGE_SLIM_CI_ARM64}
+          docker manifest push ${IMG_SLIM}
+        fi
       elif [[ "${PLATFORM}" =~ amd64 ]]; then
         if [[ "${TARGET}" =~ dev ]]; then
           docker pull ${_IMAGE_DEV_CI_AMD64}
@@ -274,6 +340,11 @@ Test run-arm64:
           docker tag ${_IMAGE_RUN_CI_AMD64} ${IMG_RUN}
           docker push ${IMG_RUN}
         fi
+        if [[ "${ENABLE_SLIM}" == 'true' && "${TARGET}" =~ run ]]; then
+          docker pull ${_IMAGE_SLIM_CI_AMD64}
+          docker tag ${_IMAGE_SLIM_CI_AMD64} ${IMG_SLIM}
+          docker push ${IMG_SLIM}
+        fi
       elif [[ "${PLATFORM}" =~ arm64 ]]; then
         if [[ "${TARGET}" =~ dev ]]; then
           docker pull ${_IMAGE_DEV_CI_ARM64}
@@ -285,6 +356,11 @@ Test run-arm64:
           docker tag ${_IMAGE_RUN_CI_ARM64} ${IMG_RUN}
           docker push ${IMG_RUN}
         fi
+        if [[ "${ENABLE_SLIM}" == 'true' && "${TARGET}" =~ run ]]; then
+          docker pull ${_IMAGE_SLIM_CI_ARM64}
+          docker tag ${_IMAGE_SLIM_CI_ARM64} ${IMG_SLIM}
+          docker push ${IMG_SLIM}
+        fi
       fi
 
 Push CI:
@@ -298,6 +374,7 @@ Push CI:
   variables:
     IMG_DEV: ${_IMAGE_DEV_CI}
     IMG_RUN: ${_IMAGE_RUN_CI}
+    IMG_SLIM: ${_IMAGE_SLIM_CI}
 
 Push:
   stage: Push Multi-Arch Images
@@ -308,6 +385,7 @@ Push:
   variables:
     IMG_DEV: ${_DEV_IMAGE}
     IMG_RUN: ${_RUN_IMAGE}
+    IMG_SLIM: ${_SLIM_IMAGE}
 
 Push latest:
   stage: Push Multi-Arch Images
@@ -318,6 +396,7 @@ Push latest:
   variables:
     IMG_DEV: ${_IMAGE_DEV_LATEST}
     IMG_RUN: ${_IMAGE_RUN_LATEST}
+    IMG_SLIM: ${_IMAGE_SLIM_LATEST}
 
 Push target tag:
   stage: Push Multi-Arch Images
@@ -328,6 +407,7 @@ Push target tag:
   variables:
     IMG_DEV: ${_IMAGE_DEV_TARGET_TAG}
     IMG_RUN: ${_IMAGE_RUN_TARGET_TAG}
+    IMG_SLIM: ${_IMAGE_SLIM_TARGET_TAG}
 
 Push tag:
   stage: Push Multi-Arch Images
@@ -338,3 +418,4 @@ Push tag:
   variables:
     IMG_DEV: ${_IMAGE_DEV_TAG}
     IMG_RUN: ${_IMAGE_RUN_TAG}
+    IMG_SLIM: ${_IMAGE_SLIM_TAG}

action.yml

@@ -27,10 +27,18 @@ inputs:
 
   dev-image-name:
     description: "Image name of dev image"
+    default: ghcr.io/${{ github.repository }}
 
   dev-image-tag:
     description: "Image tag of dev image"
 
+  slim-image-name:
+    description: "Image name of slim run image"
+    default: ghcr.io/${{ github.repository }}
+
+  slim-image-tag:
+    description: "Image tag of slim run image"
+
   build-context:
     description: "Build context of Docker build process"
     default: ${{ github.workspace }}
@@ -112,6 +120,14 @@ inputs:
     description: "Enable industrial_ci"
     default: false
 
+  enable-slim:
+    description: "Enable an extra slimmed run image via slim (only if run stage is targeted)"
+    default: true
+
+  slim-build-args:
+    description: "Arguments to `slim build` (except for `--target` and `--tag`)"
+    default: '--sensor-ipc-mode proxy --continue-after=10 --show-clogs --http-probe=false'
+
   enable-singlearch-push:
     description: "Enable push of single arch images with [-amd64|-arm64] postfix"
     default: false
@@ -184,6 +200,12 @@ runs:
       with:
         string: ${{ inputs.dev-image-name }}
 
+    - name: Enforce lower-case slim image name 
+      id: slim-image-name
+      uses: ASzc/change-string-case-action@v6
+      with:
+        string: ${{ inputs.slim-image-name }}
+
     - name: Build images
       id: build-images
       shell: bash
@@ -198,6 +220,10 @@ runs:
         IMAGE_TAG: ${{ inputs.image-tag }}
         DEV_IMAGE_NAME: ${{ steps.dev-image-name.outputs.lowercase }}
         DEV_IMAGE_TAG: ${{ inputs.dev-image-tag }}
+        SLIM_IMAGE_NAME: ${{ steps.slim-image-name.outputs.lowercase }}
+        SLIM_IMAGE_TAG: ${{ inputs.slim-image-tag }}
+        ENABLE_SLIM: ${{ inputs.enable-slim }}
+        SLIM_BUILD_ARGS: ${{ inputs.slim-build-args }}
         RMW_IMPLEMENTATION: ${{ inputs.rmw-implementation }}
         ROS_DISTRO: ${{ inputs.ros-distro }}
         GIT_HTTPS_SERVER: ${{ inputs.git-https-server }}
@@ -253,8 +279,12 @@ runs:
         COMMAND: ${{ inputs.command }}
         IMAGE_NAME: ${{ steps.image-name.outputs.lowercase }}
         IMAGE_TAG: ${{ inputs.image-tag }}
-        DEV_IMAGE_NAME: ${{ inputs.dev-image-name }}
+        DEV_IMAGE_NAME: ${{ steps.dev-image-name.outputs.lowercase }}
         DEV_IMAGE_TAG: ${{ inputs.dev-image-tag }}
+        SLIM_IMAGE_NAME: ${{ steps.slim-image-name.outputs.lowercase }}
+        SLIM_IMAGE_TAG: ${{ inputs.slim-image-tag }}
+        ENABLE_SLIM: ${{ inputs.enable-slim }}
+        SLIM_BUILD_ARGS: ${{ inputs.slim-build-args }}
         ENABLE_SINGLEARCH_PUSH: ${{ inputs.enable-singlearch-push }}
         RMW_IMPLEMENTATION: ${{ inputs.rmw-implementation }}
         ROS_DISTRO: ${{ inputs.ros-distro }}
@@ -289,8 +319,12 @@ runs:
         COMMAND: ${{ inputs.command }}
         IMAGE_NAME: ${{ steps.image-name.outputs.lowercase }}
         IMAGE_TAG: latest
-        DEV_IMAGE_NAME: ${{ inputs.dev-image-name }}
+        DEV_IMAGE_NAME: ${{ steps.dev-image-name.outputs.lowercase }}
         DEV_IMAGE_TAG: latest-dev
+        SLIM_IMAGE_NAME: ${{ steps.slim-image-name.outputs.lowercase }}
+        SLIM_IMAGE_TAG: latest-slim
+        ENABLE_SLIM: ${{ inputs.enable-slim }}
+        SLIM_BUILD_ARGS: ${{ inputs.slim-build-args }}
         ENABLE_SINGLEARCH_PUSH: ${{ inputs.enable-singlearch-push }}
         RMW_IMPLEMENTATION: ${{ inputs.rmw-implementation }}
         ROS_DISTRO: ${{ inputs.ros-distro }}

scripts/ci.sh

@@ -16,9 +16,14 @@ IMAGE_TAG="${IMAGE_TAG:-latest}"
 [[ "${TARGET}" == *"run"* ]] && require_var "COMMAND"
 DEV_IMAGE_NAME="${DEV_IMAGE_NAME:-${IMAGE_NAME}}"
 DEV_IMAGE_TAG="${DEV_IMAGE_TAG:-${IMAGE_TAG}-dev}"
+SLIM_IMAGE_NAME="${SLIM_IMAGE_NAME:-${IMAGE_NAME}}"
+SLIM_IMAGE_TAG="${SLIM_IMAGE_TAG:-${IMAGE_TAG}-slim}"
 
 IMAGE="${IMAGE_NAME}:${IMAGE_TAG}"
 DEV_IMAGE="${DEV_IMAGE_NAME}:${DEV_IMAGE_TAG}"
+SLIM_IMAGE="${SLIM_IMAGE_NAME}:${SLIM_IMAGE_TAG}"
+ENABLE_SLIM="${ENABLE_SLIM:-true}"
+SLIM_BUILD_ARGS="${SLIM_BUILD_ARGS:-'--sensor-ipc-mode proxy --continue-after=10 --show-clogs --http-probe=false'}"
 ENABLE_SINGLEARCH_PUSH="${ENABLE_SINGLEARCH_PUSH:-false}"
 RMW_IMPLEMENTATION="${RMW_IMPLEMENTATION:-}"
 ROS_DISTRO="${ROS_DISTRO:-}"
@@ -64,6 +69,10 @@ fi
 unset TARGET
 unset PLATFORM
 
+# prepare slim
+curl -L -o ds.tar.gz https://github.com/slimtoolkit/slim/releases/download/1.40.11/dist_linux.tar.gz
+tar -xvf ds.tar.gz
+
 # loop over targets and platforms to build images
 for PLATFORM in "${PLATFORMS[@]}"; do
     for TARGET in "${TARGETS[@]}"; do
@@ -75,4 +84,23 @@ for PLATFORM in "${PLATFORMS[@]}"; do
         IMAGE="${image}" build_image
         close_log_group
     done
+
+    # slim image
+    if [[ "${ENABLE_SLIM}" == "true" && "${TARGET}" == "run" ]]; then
+        open_log_group "Slim image (${PLATFORM})"
+        image="${IMAGE}"
+        slim_image="${SLIM_IMAGE}"
+        [[ -n "${_IMAGE_POSTFIX}" ]] && image="${image}${_IMAGE_POSTFIX}"
+        [[ -n "${_IMAGE_POSTFIX}" ]] && slim_image="${slim_image}${_IMAGE_POSTFIX}"
+        [[ "${_ENABLE_IMAGE_PUSH}" != "true" || "${ENABLE_SINGLEARCH_PUSH}" == "true" ]] && image="${image}-${PLATFORM}"
+        # TODO: not yet working; builds image with suffix, pushed without? [[ "${_ENABLE_IMAGE_PUSH}" != "true" || "${ENABLE_SINGLEARCH_PUSH}" == "true" ]] && slim_image="${slim_image}-${PLATFORM}"
+        if [[ "${_ENABLE_IMAGE_PUSH}" == "true" || "${ENABLE_SINGLEARCH_PUSH}" == "true" ]]; then
+            docker push "${slim_image}"
+        else
+            cd dist_linux*
+            ./slim build --target "${image}" --tag "${slim_image}" ${SLIM_BUILD_ARGS}
+            cd -
+        fi
+        close_log_group
+    fi
 done