Merge pull request autowarefoundation#8 from tier4/sync-upstream

chore: sync upstream

.github/actions/combine-multi-arch-images/action.yaml

@@ -0,0 +1,107 @@
+name: combine-multi-arch-images
+description: ""
+
+inputs:
+  package-name:
+    description: ""
+    required: true
+
+runs:
+  using: composite
+  steps:
+    - name: Login to GitHub Container Registry
+      uses: docker/login-action@v2
+      with:
+        registry: ghcr.io
+        username: ${{ github.repository_owner }}
+        password: ${{ github.token }}
+
+    - name: Set image name
+      id: set-image-name
+      run: echo "::set-output name=image-name::ghcr.io/${{ github.repository_owner }}/${{ inputs.package-name }}"
+      shell: bash
+
+    - name: Get all tags
+      id: get-all-tags
+      run: |
+        base_url="https://api.github.com/orgs/${{ github.repository_owner }}/packages/container/${{ inputs.package-name }}/versions"
+        echo "base_url: $base_url"
+
+        all_tags=()
+        for page in $(seq 1 10); do
+          page_url="${base_url}?page=$page"
+          echo -e "\npage_url: $page_url"
+
+          page_tags=$(curl -fsSL "$page_url" -H "Authorization: token ${{ github.token }}" | jq ".[].metadata.container.tags[]" | cut -d '"' -f 2)
+          echo -e "\n[page_tags]\n$page_tags"
+
+          if [ "$page_tags" = "" ]; then
+            echo "No tags found in the page $page."
+            break
+          fi
+
+          for tag in $(IFS=$'\n'; echo "$page_tags"); do
+            all_tags+=("$tag")
+          done
+        done
+
+        all_tags=$(printf "%s\n" ${all_tags[@]})
+        echo -e "\n[all_tags]\n$all_tags"
+
+        echo "::set-output name=tags::$(printf "%s " $all_tags)"
+      shell: bash
+
+    - name: Get base tags
+      id: get-base-tags
+      run: |
+        amd64_tags=$(printf "%s\n" $ALL_TAGS | grep "\-amd64" | sed "s/-amd64$//g")
+        arm64_tags=$(printf "%s\n" $ALL_TAGS | grep "\-arm64" | sed "s/-arm64$//g")
+        base_tags=$(printf "%s\n" "$amd64_tags" "$arm64_tags" | sort | uniq)
+
+        echo -e "\n[amd64_tags]\n$amd64_tags"
+        echo -e "\n[arm64_tags]\n$arm64_tags"
+        echo -e "\n[base_tags]\n$base_tags"
+
+        echo "::set-output name=tags::$(printf "%s " $base_tags)"
+      env:
+        ALL_TAGS: ${{ steps.get-all-tags.outputs.tags }}
+      shell: bash
+
+    - name: Create Docker manifest
+      run: |
+        for base_tag in $BASE_TAGS; do
+          echo -e "\nbase_tag: $base_tag"
+
+          amd64_tag=$(printf "%s\n" $ALL_TAGS | grep "^$base_tag\-amd64" || true)
+          arm64_tag=$(printf "%s\n" $ALL_TAGS | grep "^$base_tag\-arm64" || true)
+
+          echo "amd64_tag: $amd64_tag"
+          echo "arm64_tag: $arm64_tag"
+
+          if [ "$amd64_tag" != "" ]; then
+            amd64_image="${{ steps.set-image-name.outputs.image-name }}:$amd64_tag"
+          else
+            echo "No amd64 tag found for '$base_tag'."
+            amd64_image=""
+          fi
+
+          if [ "$arm64_tag" != "" ]; then
+            arm64_image="${{ steps.set-image-name.outputs.image-name }}:$arm64_tag"
+          else
+            echo "No arm64 tag found for '$base_tag'."
+            arm64_image=""
+          fi
+
+          echo "amd64_image: $amd64_image"
+          echo "arm64_image: $arm64_image"
+
+          docker manifest create ${{ steps.set-image-name.outputs.image-name }}:$base_tag \
+            $amd64_image \
+            $arm64_image
+
+          docker manifest push ${{ steps.set-image-name.outputs.image-name }}:$base_tag
+        done
+      env:
+        ALL_TAGS: ${{ steps.get-all-tags.outputs.tags }}
+        BASE_TAGS: ${{ steps.get-base-tags.outputs.tags }}
+      shell: bash

.github/actions/create-main-distro-alias/action.yaml

@@ -0,0 +1,49 @@
+name: create-main-distro-alias
+description: ""
+
+inputs:
+  package-name:
+    description: ""
+    required: true
+  rosdistro:
+    description: ""
+    required: true
+  tag-name:
+    description: ""
+    required: true
+
+runs:
+  using: composite
+  steps:
+    - name: Login to GitHub Container Registry
+      uses: docker/login-action@v2
+      with:
+        registry: ghcr.io
+        username: ${{ github.repository_owner }}
+        password: ${{ github.token }}
+
+    - name: Set image name
+      id: set-image-name
+      run: echo "::set-output name=image-name::ghcr.io/${{ github.repository_owner }}/${{ inputs.package-name }}"
+      shell: bash
+
+    - name: Create Docker manifest for latest
+      run: |
+        # Check image existence
+        distro_image="${{ steps.set-image-name.outputs.image-name }}:${{ inputs.rosdistro }}-${{ inputs.tag-name }}"
+        if docker manifest inspect "$distro_image-amd64" >/dev/null 2>&1; then
+          amd64_image="$distro_image-amd64"
+        fi
+        if docker manifest inspect "$distro_image-arm64" >/dev/null 2>&1; then
+          arm64_image="$distro_image-arm64"
+        fi
+
+        echo "amd64_image: $amd64_image"
+        echo "arm64_image: $arm64_image"
+
+        docker manifest create --amend ${{ steps.set-image-name.outputs.image-name }}:${{ inputs.tag-name }} \
+          $amd64_image \
+          $arm64_image
+
+        docker manifest push ${{ steps.set-image-name.outputs.image-name }}:${{ inputs.tag-name }}
+      shell: bash

.github/actions/docker-build-and-push/action.yaml

@@ -5,30 +5,21 @@ inputs:
   bake-target:
     description: ""
     required: true
-  platforms:
+  build-args:
     description: ""
-    required: true
+    required: false
+  tag-prefix:
+    description: ""
+    required: false
   tag-suffix:
     description: ""
-    required: true
+    required: false
 
 runs:
   using: composite
   steps:
-    - name: Get branch name
-      id: get-branch-name
-      run: echo "::set-output name=branch::${GITHUB_REF#refs/heads/}"
-      shell: bash
-
-    - name: Check branch of workflow_dispatch
-      if: ${{ github.event_name == 'workflow_dispatch' && steps.get-branch-name.outputs.branch != github.event.repository.default_branch }}
-      run: |
-        echo "workflow_dispatch is allowed only with the branch '${{ github.event.repository.default_branch }}', '${{ steps.get-branch-name.outputs.branch }}' is not allowed."
-        exit 1
-      shell: bash
-
     - name: Setup Docker Buildx
-      uses: docker/setup-buildx-action@v1
+      uses: docker/setup-buildx-action@v2
 
     - name: Install jq
       run: |
@@ -64,29 +55,31 @@ runs:
 
     - name: Docker meta for devel
       id: meta-devel
-      uses: docker/metadata-action@v3
+      uses: docker/metadata-action@v4
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: ${{ steps.set-docker-tags.outputs.tags }}
         bake-target: docker-metadata-action-devel
         flavor: |
           latest=false
+          prefix=${{ inputs.tag-prefix }}
           suffix=${{ inputs.tag-suffix }}
 
     - name: Docker meta for prebuilt
       id: meta-prebuilt
-      uses: docker/metadata-action@v3
+      uses: docker/metadata-action@v4
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: ${{ steps.set-docker-tags.outputs.tags }}
         bake-target: docker-metadata-action-prebuilt
         flavor: |
           latest=false
+          prefix=${{ inputs.tag-prefix }}
           suffix=-prebuilt${{ inputs.tag-suffix }}
 
     - name: Login to GitHub Container Registry
       if: ${{ github.event_name != 'pull_request' }}
-      uses: docker/login-action@v1
+      uses: docker/login-action@v2
       with:
         registry: ghcr.io
         username: ${{ github.repository_owner }}
@@ -102,11 +95,11 @@ runs:
       shell: bash
 
     - name: Build and push
-      uses: docker/bake-action@v1
+      uses: docker/bake-action@v2
       with:
-        push: ${{ github.event_name != 'pull_request' }}
+        push: ${{ github.ref_name == github.event.repository.default_branch }}
         files: |
           docker/${{ inputs.bake-target }}/docker-bake.hcl
           bake.json
         set: |
-          *.platform=${{ inputs.platforms }}
+          ${{ inputs.build-args }}

.github/workflows/build-humble-self-hosted.yaml

@@ -0,0 +1,36 @@
+name: build-humble-self-hosted
+
+on:
+  schedule:
+    - cron: 0 0 * * 0
+  workflow_dispatch:
+
+jobs:
+  build-humble-self-hosted:
+    runs-on: [self-hosted, linux, ARM64]
+    container: ubuntu:22.04
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v3
+        with:
+          ref: humble
+
+      - name: Run setup script
+        run: |
+          ./setup-dev-env.sh -y universe
+
+      - name: Run vcs import
+        run: |
+          mkdir src
+          vcs import src < autoware.repos
+
+      - name: Run rosdep install
+        run: |
+          sudo apt-get -y update
+          rosdep update
+          DEBIAN_FRONTEND=noninteractive rosdep install -y --from-paths src --ignore-src --rosdistro humble
+
+      - name: Build
+        run: |
+          . /opt/ros/humble/setup.sh
+          colcon build --event-handlers console_cohesion+ --cmake-args -DCMAKE_BUILD_TYPE=Release

.github/workflows/build-humble.yaml

@@ -0,0 +1,41 @@
+name: build-humble
+
+on:
+  schedule:
+    - cron: 0 0 * * 0
+  workflow_dispatch:
+
+jobs:
+  build-humble:
+    runs-on: ubuntu-latest
+    container: ubuntu:22.04
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v3
+        with:
+          ref: humble
+
+      - name: Run setup script
+        run: |
+          ./setup-dev-env.sh -y
+
+      - name: Set git config
+        uses: autowarefoundation/autoware-github-actions/set-git-config@v1
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Run vcs import
+        run: |
+          mkdir src
+          vcs import src < autoware.repos
+
+      - name: Run rosdep install
+        run: |
+          sudo apt-get -y update
+          rosdep update
+          DEBIAN_FRONTEND=noninteractive rosdep install -y --from-paths src --ignore-src --rosdistro humble
+
+      - name: Build
+        run: |
+          . /opt/ros/humble/setup.sh
+          colcon build --event-handlers console_cohesion+ --cmake-args -DCMAKE_BUILD_TYPE=Release

.github/workflows/build-self-hosted.yaml → .github/workflows/build-main-self-hosted.yaml

@@ -1,17 +1,19 @@
-name: build-self-hosted
+name: build-main-self-hosted
 
 on:
   schedule:
     - cron: 0 0 * * 0
   workflow_dispatch:
 
 jobs:
-  build-self-hosted:
+  build-main-self-hosted:
     runs-on: [self-hosted, linux, ARM64]
     container: ubuntu:20.04
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
+        with:
+          ref: ""
 
       - name: Run setup script
         run: |

.github/workflows/build.yaml → .github/workflows/build-main.yaml

@@ -1,21 +1,28 @@
-name: build
+name: build-main
 
 on:
   schedule:
     - cron: 0 0 * * 0
   workflow_dispatch:
 
 jobs:
-  build:
+  build-main:
     runs-on: ubuntu-latest
     container: ubuntu:20.04
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
+        with:
+          ref: ""
 
       - name: Run setup script
         run: |
-          ./setup-dev-env.sh -y universe
+          ./setup-dev-env.sh -y
+
+      - name: Set git config
+        uses: autowarefoundation/autoware-github-actions/set-git-config@v1
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
 
       - name: Run vcs import
         run: |