Enable multiarch builds with ros baseimage

.github/workflows/main.yaml

@@ -3,270 +3,119 @@ name: humble-build
 on:
   push:
     branches: [ humble ]
+    paths-ignore:
+      - 'README.md'
   pull_request:
     branches: [ humble ]
   workflow_dispatch:
     inputs:
-      push_to_artifactory:
-        description: 'Push packages to artifactory?'
-        required: true
-        default: false
-        type: boolean
       push_to_docker:
         description: 'Push packages to docker image?'
         required: true
         default: true
         type: boolean
 
+permissions:
+  contents: read
+  packages: write
+
 env:
   ROS_DISTRO: humble
 
 jobs:
   tii-deb-build:
     runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        architecture: [amd64, arm64]
     steps:
       - name: Checkout rmw_fastrtps
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4
         with:
           submodules: recursive
-      # Run docker build
-      - name: Run docker builder
-        env:
-          ROS: 1
-          IMAGE_NAME: tii_fastdds_builder
-        run: |
-          set -eux
-          mkdir bin
-          source build.sh
-          build_image $IMAGE_NAME latest ${{env.ROS_DISTRO}}
-
-      # Run docker build
-      - name: Run foonathan_memory_vendor docker build
-        env:
-          ROS: 1
-          IMAGE_NAME: tii_fastdds_builder
-          PACKAGE_NAME: foonathan_memory_vendor
-          ROS_DISTRO: ${{env.ROS_DISTRO}}
-          DEPENDENCIES: ""
-        run: |
-          set -eux
-          source build.sh
-          build_package $IMAGE_NAME latest $PACKAGE_NAME "$DEPENDENCIES"
-
-      # Run docker build
-      - name: Run Fast-CDR docker build
-        env:
-          ROS: 1
-          IMAGE_NAME: tii_fastdds_builder
-          PACKAGE_NAME: Fast-CDR
-          ROS_DISTRO: ${{env.ROS_DISTRO}}
-          DEPENDENCIES: ""
-        run: |
-          set -eux
-          source build.sh
-          build_package $IMAGE_NAME latest $PACKAGE_NAME "$DEPENDENCIES"
 
-      - name: Run Fast-DDS docker build
-        env:
-          ROS: 1
-          IMAGE_NAME: tii_fastdds_builder
-          PACKAGE_NAME: Fast-DDS
-          ROS_DISTRO: ${{env.ROS_DISTRO}}
-          DEPENDENCIES: "ros-${{env.ROS_DISTRO}}-foonathan-memory-vendor \
-            ros-${{env.ROS_DISTRO}}-fastcdr"
-        run: |
-          set -eux
-          source build.sh
-          build_package $IMAGE_NAME latest $PACKAGE_NAME "$DEPENDENCIES"
+      - name: Setup QEMU
+        uses: docker/setup-qemu-action@v3
+        with:
+          platforms: ${{ matrix.architecture }}
 
-      - name: Run rosidl_typesupport_fastrtps/fastrtps_cmake_module docker build
+      - name: Run deb package build
         env:
           ROS: 1
           IMAGE_NAME: tii_fastdds_builder
-          PACKAGE_NAME: rosidl_typesupport_fastrtps/fastrtps_cmake_module
-          ROS_DISTRO: ${{env.ROS_DISTRO}}
-          DEPENDENCIES: "ros-${{env.ROS_DISTRO}}-foonathan-memory-vendor \
-            ros-${{env.ROS_DISTRO}}-fastcdr \
-            ros-${{env.ROS_DISTRO}}-fastrtps"
         run: |
           set -eux
-          source build.sh
-          build_package $IMAGE_NAME latest $PACKAGE_NAME "$DEPENDENCIES"
+          mkdir bin
+          git config --global user.email "ci@ci.ci"
+          git config --global user.name "ci"
+          PLATFORM=linux/${{ matrix.architecture }} ./build.sh ./bin/
 
-      - name: Run rosidl_typesupport_fastrtps/rosidl_typesupport_fastrtps_cpp docker build
-        env:
-          ROS: 1
-          IMAGE_NAME: tii_fastdds_builder
-          PACKAGE_NAME: rosidl_typesupport_fastrtps/rosidl_typesupport_fastrtps_cpp
-          ROS_DISTRO: ${{env.ROS_DISTRO}}
-          DEPENDENCIES: "ros-${{env.ROS_DISTRO}}-foonathan-memory-vendor \
-            ros-${{env.ROS_DISTRO}}-fastcdr \
-            ros-${{env.ROS_DISTRO}}-fastrtps \
-            ros-${{env.ROS_DISTRO}}-fastrtps-cmake-module"
-        run: |
-          set -eux
-          source build.sh
-          build_package $IMAGE_NAME latest $PACKAGE_NAME "$DEPENDENCIES"
+      - uses: docker/setup-buildx-action@v3
 
-      - name: Run rosidl_typesupport_fastrtps/rosidl_typesupport_fastrtps_c docker build
-        env:
-          ROS: 1
-          IMAGE_NAME: tii_fastdds_builder
-          PACKAGE_NAME: rosidl_typesupport_fastrtps/rosidl_typesupport_fastrtps_c
-          ROS_DISTRO: ${{env.ROS_DISTRO}}
-          DEPENDENCIES: "ros-${{env.ROS_DISTRO}}-foonathan-memory-vendor \
-            ros-${{env.ROS_DISTRO}}-fastcdr \
-            ros-${{env.ROS_DISTRO}}-fastrtps \
-            ros-${{env.ROS_DISTRO}}-fastrtps-cmake-module \
-            ros-${{env.ROS_DISTRO}}-rosidl-typesupport-fastrtps-cpp"
-        run: |
-          set -eux
-          source build.sh
-          build_package $IMAGE_NAME latest $PACKAGE_NAME "$DEPENDENCIES"
+      - name: Docker meta
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: ghcr.io/tiiuae/tii-fastdds-artifacts
+          tags: |
+            type=ref,event=branch,suffix=-${{ matrix.architecture }}
+            type=ref,event=pr,suffix=-${{ matrix.architecture }}
+            type=semver,pattern={{version}},suffix=-${{ matrix.architecture }}
+            type=sha,suffix=-${{ matrix.architecture }}
 
-      - name: Run rmw_fastrtps/rmw_fastrtps_shared_cpp docker build
-        env:
-          ROS: 1
-          IMAGE_NAME: tii_fastdds_builder
-          PACKAGE_NAME: rmw_fastrtps/rmw_fastrtps_shared_cpp
-          ROS_DISTRO: ${{env.ROS_DISTRO}}
-          DEPENDENCIES: "ros-${{env.ROS_DISTRO}}-foonathan-memory-vendor \
-            ros-${{env.ROS_DISTRO}}-fastcdr \
-            ros-${{env.ROS_DISTRO}}-fastrtps \
-            ros-${{env.ROS_DISTRO}}-fastrtps-cmake-module \
-            ros-${{env.ROS_DISTRO}}-rosidl-typesupport-fastrtps-cpp \
-            ros-${{env.ROS_DISTRO}}-rosidl-typesupport-fastrtps-c"
-        run: |
-          set -eux
-          source build.sh
-          build_package $IMAGE_NAME latest $PACKAGE_NAME "$DEPENDENCIES"
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v3
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
 
-      - name: Run rmw_fastrtps/rmw_fastrtps_dynamic_cpp docker build
-        env:
-          ROS: 1
-          IMAGE_NAME: tii_fastdds_builder
-          PACKAGE_NAME: rmw_fastrtps/rmw_fastrtps_dynamic_cpp
-          ROS_DISTRO: ${{env.ROS_DISTRO}}
-          DEPENDENCIES: "ros-${{env.ROS_DISTRO}}-foonathan-memory-vendor \
-            ros-${{env.ROS_DISTRO}}-fastcdr \
-            ros-${{env.ROS_DISTRO}}-fastrtps \
-            ros-${{env.ROS_DISTRO}}-fastrtps-cmake-module \
-            ros-${{env.ROS_DISTRO}}-rosidl-typesupport-fastrtps-cpp \
-            ros-${{env.ROS_DISTRO}}-rosidl-typesupport-fastrtps-c \
-            ros-${{env.ROS_DISTRO}}-rmw-fastrtps-shared-cpp"
-        run: |
-          set -eux
-          source build.sh
-          build_package $IMAGE_NAME latest $PACKAGE_NAME "$DEPENDENCIES"
-      - name: Run rmw_fastrtps/rmw_fastrtps_cpp docker build
-        env:
-          ROS: 1
-          IMAGE_NAME: tii_fastdds_builder
-          PACKAGE_NAME: rmw_fastrtps/rmw_fastrtps_cpp
-          ROS_DISTRO: ${{env.ROS_DISTRO}}
-          DEPENDENCIES: "ros-${{env.ROS_DISTRO}}-foonathan-memory-vendor \
-            ros-${{env.ROS_DISTRO}}-fastcdr \
-            ros-${{env.ROS_DISTRO}}-fastrtps \
-            ros-${{env.ROS_DISTRO}}-fastrtps-cmake-module \
-            ros-${{env.ROS_DISTRO}}-rosidl-typesupport-fastrtps-cpp \
-            ros-${{env.ROS_DISTRO}}-rosidl-typesupport-fastrtps-c \
-            ros-${{env.ROS_DISTRO}}-rmw-fastrtps-shared-cpp"
-        run: |
-          set -eux
-          source build.sh
-          build_package $IMAGE_NAME latest $PACKAGE_NAME "$DEPENDENCIES"
+      - name: Build tii-fastdds-artifacts image and push
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          push: true
+          platforms: linux/${{ matrix.architecture }}
+          file: ./Dockerfile.deb_packages
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          provenance: false
 
       - name: Upload build
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v4
         with:
-          name: fastdds_debs
+          name: fastdds_debs_${{ matrix.architecture }}
           path: bin/*.deb
           retention-days: 14
 
-  docker_image:
+  merge_images:
     runs-on: ubuntu-latest
     needs: tii-deb-build
     if: (github.event_name == 'push' || (github.event_name == 'workflow_dispatch' && inputs.push_to_docker))
     steps:
       - name: Checkout rmw_fastrtps
-        uses: actions/checkout@v2
-
-      - name: Download builds
-        uses: actions/download-artifact@v2
-        with:
-          name: fastdds_debs
-          path: bin/
-
-      - uses: docker/setup-buildx-action@v1
+        uses: actions/checkout@v4
 
       - name: Docker meta
         id: meta
-        uses: docker/metadata-action@v3
+        uses: docker/metadata-action@v5
         with:
           images: ghcr.io/tiiuae/tii-fastdds-artifacts
           tags: |
-            type=ref,event=branch
-            type=ref,event=pr
-            type=semver,pattern={{version}}
             type=sha
-
+      
       - name: Login to GitHub Container Registry
-        uses: docker/login-action@v1
+        uses: docker/login-action@v3
         with:
           registry: ghcr.io
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
-      - name: Build px4-sitl-gazebo-artifacts image and push
-        uses: docker/build-push-action@v2
-        with:
-          context: .
-          push: true
-          file: ./Dockerfile.deb_packages
-          tags: ${{ steps.meta.outputs.tags }}
-          labels: ${{ steps.meta.outputs.labels }}
-
-  artifactory:
-    runs-on: ubuntu-latest
-    needs: tii-deb-build
-    if: (github.event_name == 'push' || (github.event_name == 'workflow_dispatch' && inputs.push_to_artifactory))
-    strategy:
-      matrix:
-        package: [
-          foonathan_memory_vendor, fastcdr, fastrtps,
-          fastrtps_cmake_module, rosidl_typesupport_fastrtps_c, rosidl_typesupport_fastrtps_cpp,
-          rmw_fastrtps_cpp, rmw_fastrtps_dynamic_cpp, rmw_fastrtps_shared_cpp
-        ]
-    steps:
-      - name: Download builds
-        uses: actions/download-artifact@v2
-        with:
-          name: fastdds_debs
-          path: bin/
-      - uses: jfrog/setup-jfrog-cli@v2
-        env:
-          JF_ARTIFACTORY_1: ${{ secrets.ARTIFACTORY_TOKEN }}
-      - name: Upload to Artifactory
-        env:
-          ARTIFACTORY_REPO: ssrc-deb-public-local
-          DISTRIBUTION: jammy
-          COMPONENT: fog-sw-sros
-          ARCHITECTURE: amd64
-          BUILD_NAME: fastdds_libraries
-          CI: true
-        run: |
-          set -exu
-          deb_pkg_name=$(echo ${{ matrix.package }} | tr _ -)
-          pkg=$(find bin -name "ros-${{env.ROS_DISTRO}}-${deb_pkg_name}_*.deb")
-          if [ "${pkg}" == "" ]; then echo "ERROR: Package not found."; exit 1; fi
-          pkg_name=$(basename ${pkg})
-          jfrog rt u --deb "$DISTRIBUTION/$COMPONENT/$ARCHITECTURE" \
-                     --target-props COMMIT="$GITHUB_SHA" \
-                     --build-name "$BUILD_NAME" \
-                     --build-number "$GITHUB_SHA" \
-                     "$pkg" \
-                     "$ARTIFACTORY_REPO/$pkg_name"
-          jfrog rt build-publish "$BUILD_NAME" "$GITHUB_SHA"
-          jfrog rt bpr "$BUILD_NAME" "$GITHUB_SHA" "$ARTIFACTORY_REPO" \
-                       --status dev \
-                       --comment "development build"
+      - name: Create combined image
+        run : |
+            echo "Debug: Tags are ${{ steps.meta.outputs.tags }}"
+            docker manifest create $(echo "${{ steps.meta.outputs.tags }}" | head -1) \
+            $(echo "${{ steps.meta.outputs.tags }}" | head -1)-amd64 \
+            $(echo "${{ steps.meta.outputs.tags }}" | head -1)-arm64
+            docker manifest push $(echo "${{ steps.meta.outputs.tags }}" | head -1)

Dockerfile.build_env

@@ -51,7 +51,7 @@ USER root
 #     ros-${ROS_DISTRO}-foonathan-memory-vendor
 RUN dpkg -r --force-depends ros-${ROS_DISTRO}-foonathan-memory-vendor
 
-USER builder
+# USER builder
 
 # RUN /$IMAGE_NAME/packaging/build_deps.sh /$IMAGE_NAME
 

README.md

@@ -0,0 +1,53 @@
+# tii-fastdds-builder
+
+
+## Description
+This repository builds the required Fast-DDS libraries using `ros:humble-ros-base` baseimage. It has the SECURITY enabled, and has the patch for the PKCS#11.
+
+
+## How to use
+### Clone and build the debs locally
+Platform selection can be as "linux/amd64" or "linux/arm64". The arm64 build on a amd64 will be executed with qemu. You can find the instructions online about how to enable qemu on your system.
+
+Make sure to create the bin directory. If the script creates it, it will be owned by root and make the script fail.
+```bash
+mkdir -p ~/tii-fastdds-builder-ws && cd ~/tii-fastdds-builder-ws
+git clone --recurse-submodules https://github.com/tiiuae/tii-fastdds-builder.git
+cd tii-fastdds-builder
+mkdir bin
+PLATFORM=linux/amd64 ./build.sh ./bin/
+```
+
+### Copy the deb packages to your local directory
+```bash
+docker create --name tii-fastdds-builder ghcr.io/tiiuae/tii-fastdds-artifacts:humble
+mkdir -p ~/tii-fastdds-builder-ws/bin
+docker cp tii-fastdds-builder:/artifacts/. ~/tii-fastdds-builder-ws/bin/
+docker rm tii-fastdds-builder
+ls -la ~/tii-fastdds-builder-ws/bin
+```
+
+Keep in mind that the artifacts include both "deb" packages and "ddeb" debugsymbol messages. If installing with dpkg command, use it as "dpkg -i *.deb".
+
+### Copy and install deb packages in Dockerfile
+Modify the tag name accordingly. The baseimage is given as an example, could be used any that has the ros2 installed. If the ROS2 installation is done later, install the deb packages after the ROS2 installation.
+```Dockerfile
+FROM ros:humble-ros-base
+
+RUN mkdir -p /tmp/fastdds_debs
+COPY --from=ghcr.io/tiiuae/tii-fastdds-artifacts:humble /artifacts/*.deb /tmp/fastdds_debs/
+RUN dpkg -i /tmp/fastdds_debs/*.deb
+```
+
+Warning: If you are running an `apt upgrade` operation later, some of the packages might be upgraded to the version in the ROS2 repo. To avoid this, you can pin the packages to the version you have installed. For example, you can pin the Fast-DDS packages as follows:
+```Dockerfile
+RUN apt-mark hold ros-humble-fastcdr \
+    ros-humble-fastrtps \
+    ros-humble-rmw-fastrtps-cpp \
+    ros-humble-rmw-fastrtps-dynamic-cpp \
+    ros-humble-rmw-fastrtps-shared-cpp \
+    ros-humble-rosidl-typesupport-fastrtps-c \
+    ros-humble-rosidl-typesupport-fastrtps-cpp \
+    ros-humble-foonathan-memory-vendor \
+    ros-humble-fastrtps-cmake-module
+```