Added commands in CI for building docker images when merged

.github/workflows/focal_build.yml → .github/workflows/ubuntu.yml

@@ -1,4 +1,4 @@
-name: Focal-Build
+name: Ubuntu
 
 on:
   push:
@@ -11,25 +11,31 @@ on:
 
 jobs:
   industrial_ci:
-    name: Foxy
-    runs-on: ubuntu-20.04
+    name: ${{ matrix.distro }}
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        distro: [foxy, humble, rolling]
     env:
-      CI_NAME: Focal-Build
+      CI_NAME: ${{ matrix.distro }}-Build
       OS_NAME: ubuntu
-      OS_CODE_NAME: focal
-      ROS_DISTRO: foxy
+      ROS_DISTRO: ${{ matrix.distro }}
       ROS_REPO: main
       BEFORE_INIT: './.add-gazebo-ppa'
       UPSTREAM_WORKSPACE: 'dependencies_unstable.repos'
       ROSDEP_SKIP_KEYS: "catkin taskflow fcl gz-common5 gz-math7 gz-rendering7"
       ADDITIONAL_DEBS: "libgz-common5-dev libgz-math7-dev libgz-rendering7-dev"
-      DOCKER_IMAGE: "ros:foxy"
+      DOCKER_IMAGE: "ros:${{ matrix.distro }}"
       PARALLEL_TESTS: false
       NOT_TEST_BUILD: true
       BEFORE_RUN_TARGET_TEST_EMBED: "source /root/target_ws/install/local_setup.bash"
-      CCACHE_DIR: "/home/runner/work/tesseract_ros2/tesseract_ros2/Focal-Build/.ccache"
+      CCACHE_DIR: "/home/runner/work/tesseract_ros2/tesseract_ros2/${{ matrix.distro }}-Build/.ccache"
       UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
       TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug"
+      REGISTRY: ghcr.io
+      IMAGE_NAME: ${{ github.repository }}
+      PUSH_DOCKER_IMAGE: ${{ github.ref == 'refs/heads/master' || github.event_name == 'release' }}
     steps:
       - uses: actions/checkout@v1
 
@@ -58,5 +64,38 @@ jobs:
           restore-keys: |
             ${{ env.CI_NAME }}-ccache-
 
+      - name: Login to Github container registry
+        uses: docker/login-action@v1
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Extract Docker meta-information
+        id: meta
+        uses: docker/metadata-action@v3
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+          flavor: |
+            latest=false
+            prefix=
+            suffix=
+          tags: |
+            type=ref,event=branch,prefix=${{ env.ROS_DISTRO }}-
+            type=semver,pattern={{major}}.{{minor}},prefix=${{ env.ROS_DISTRO }}-
+
+      - name: Set build type
+        run: |
+          if [[ "${{ env.PUSH_DOCKER_IMAGE }}" = true ]]
+          then
+            echo "BUILD_TYPE=Release" >> $GITHUB_ENV
+          else
+            echo "BUILD_TYPE=Debug" >> $GITHUB_ENV
+          fi
+
       - uses: 'ros-industrial/industrial_ci@master'
         env: ${{env}}
+
+      - name: Push post-build Docker
+        if: ${{ env.PUSH_DOCKER_IMAGE == 'true' }}
+        run: docker push ${{ steps.meta.outputs.tags }}