Sync develop to master (#25)

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# PR Details
## Description
This is an intermediate branch cut from master which includes fixes to
the branch coupling of build and checkout scripts. This coupling can not
yet be removed from CI processes because this repository still uses
CircleCI. The functionality to decouple CI from branches is currently
only available through our GitHub actions
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## Related GitHub Issue

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issues or Jira Keys -->
<!--- If suggesting a new feature or change, please discuss it in an
issue first -->
<!--- If fixing a bug, there should be an issue describing it with steps
to reproduce -->
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specific to this fix -->
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## Related Jira Key

<!-- e.g. CAR-123 -->

## Motivation and Context
Decouple build/checkout from branch to make release process simpler
<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?
CI
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to -->
<!--- see how your change affects other areas of the code, etc. -->

## Types of changes

<!--- What types of changes does your code introduce? Put an `x` in all
the boxes that apply: -->

- [ ] Defect fix (non-breaking change that fixes an issue)
- [x] New feature (non-breaking change that adds functionality)
- [ ] Breaking change (fix or feature that cause existing functionality
to change)

## Checklist:

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that apply. -->
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here to help! -->

- [ ] I have added any new packages to the sonar-scanner.properties file
- [ ] My change requires a change to the documentation.
- [ ] I have updated the documentation accordingly.
- [x] I have read the
[**CONTRIBUTING**](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Contributing.md)
document.
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.

.circleci/config.yml

@@ -22,7 +22,7 @@ version: 2
 # Run static code analyzer for SourceCloud
 # Upload test results
 # Every run command should start with source ${INIT_ENV} to ensure all default dependancies are available
-
+# TODO : Move this to github actions to take advantage of dynamic base branch selection
 jobs:
   build:
     # Pull docker image from docker hub

.github/workflows/docker.yml

@@ -1,10 +1,6 @@
 name: Docker build
 
 on:
-  push:
-    branches-ignore:
-      - "develop"
-      - "release/*"
   pull_request:
       types: [opened, synchronize, reopened]
 

.github/workflows/dockerhub.yml

@@ -3,8 +3,11 @@ name: Docker Hub build
 on:
   push:
     branches:
-      - "develop"
+      - develop
+      - master
       - "release/*"
+    tags:
+      - "carma-system-*"
 
 jobs:
   dockerhub:

Dockerfile

@@ -1,11 +1,14 @@
-FROM usdotfhwastoldev/carma-base:develop as base_image
+ARG DOCKER_ORG=usdotfhwastoldev
+ARG DOCKER_TAG=develop
+FROM ${DOCKER_ORG}/carma-base:${DOCKER_TAG} as base_image
 
 FROM base_image as build
+ARG GIT_BRANCH=develop
 
 COPY --chown=carma . /home/carma/autoware.auto
 RUN chmod -R 775 /home/carma/autoware.auto/docker/checkout.bash
 RUN chmod -R 775 /home/carma/autoware.auto/docker/install.sh
-RUN /home/carma/autoware.auto/docker/checkout.bash
+RUN /home/carma/autoware.auto/docker/checkout.bash -b ${GIT_BRANCH}
 RUN ./home/carma/autoware.auto/docker/install.sh
 
 FROM base_image

docker/checkout.bash

@@ -19,11 +19,13 @@
 set -exo pipefail
 
 dir=~
+BRANCH=develop
 while [[ $# -gt 0 ]]; do
       arg="$1"
       case $arg in
-            -d|--develop)
-                  BRANCH=develop
+            -b|--branch)
+                  BRANCH=$2
+                  shift
                   shift
             ;;
             -r|--root)
@@ -33,17 +35,14 @@ while [[ $# -gt 0 ]]; do
             ;;
       esac
 done
-
-if [[ "$BRANCH" = "develop" ]]; then
-      sudo git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ${dir}/src/CARMAMsgs --branch $BRANCH
-      sudo git clone https://github.com/usdot-fhwa-stol/carma-utils.git ${dir}/src/CARMAUtils --branch $BRANCH
-      sudo git clone https://github.com/usdot-fhwa-stol/autoware.ai.git ${dir}/src/autoware.ai --branch $BRANCH
+sudo git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ${dir}/src/CARMAMsgs --branch "$BRANCH"
+sudo git clone https://github.com/usdot-fhwa-stol/carma-utils.git ${dir}/src/CARMAUtils --branch "$BRANCH"
+if [[ "$BRANCH" == "develop" ]] || [[ "$BRANCH" == "master" ]]; then
+      sudo git clone https://github.com/usdot-fhwa-stol/autoware.ai.git ${dir}/src/autoware.ai --branch carma-"$BRANCH"
 else
-      sudo git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ${dir}/src/CARMAMsgs --branch develop
-      sudo git clone https://github.com/usdot-fhwa-stol/carma-utils.git ${dir}/src/CARMAUtils --branch develop
-      sudo git clone https://github.com/usdot-fhwa-stol/autoware.ai.git ${dir}/src/autoware.ai --branch carma-develop
+      sudo git clone https://github.com/usdot-fhwa-stol/autoware.ai.git ${dir}/src/autoware.ai --branch "$BRANCH"
 fi
-
+#TODO This probably needs to be moved into install.sh
 sudo apt-get update
 sudo apt-get install ros-foxy-nmea-msgs -y
 sudo apt-get install ros-foxy-gps-tools -y