Sync develop to master (#120)

<!-- Thanks for the contribution, this is awesome. -->

# 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
<!--- Describe your changes in detail -->

## Related GitHub Issue

<!--- This project only accepts pull requests related to open GitHub
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 -->
<!--- Please DO NOT name partially fixed issues, instead open an issue
specific to this fix -->
<!--- Please link to the issue here: -->

## 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
<!--- Please describe in detail how you tested your changes. -->
<!--- Include details of your testing environment, and the tests you ran
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:

<!--- Go over all the following points, and put an `x` in all the boxes
that apply. -->
<!--- If you're unsure about any of these, don't hesitate to ask. We're
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.

.github/workflows/ci.yml

@@ -1,16 +1,30 @@
 name: CI
 on:
-  push:
   pull_request:
+    types: [opened, synchronize, reopened]
+  push:
+    branches: 
+      - develop
+      - master
+      - "release/*"
 jobs:
+  determine_docker_org_and_tag:
+    runs-on: ubuntu-latest
+    outputs:
+      docker_organization: ${{ steps.docker-org-and-tag.outputs.docker_organization }}
+      docker_image_tag: ${{ steps.docker-org-and-tag.outputs.docker_image_tag }}
+    steps:
+      - id: docker-org-and-tag
+        uses: usdot-fhwa-stol/actions/docker-org-and-tag@main
   build:
+    needs: determine_docker_org_and_tag
     defaults:
       run:
         shell: bash
         working-directory: "/opt/carma/"
     runs-on: ubuntu-latest
     container:
-      image: usdotfhwastoldev/carma-base:develop
+      image: ${{ needs.determine_docker_org_and_tag.outputs.docker_organization }}/carma-base:${{ needs.determine_docker_org_and_tag.outputs.docker_image_tag }}
       env:
         INIT_ENV: "/home/carma/.base-image/init-env.sh"
         ROS_2_ENV: "/opt/ros/foxy/setup.bash"
@@ -24,10 +38,18 @@ jobs:
         path: src/${{ github.event.repository.name }}
     - name: Move source code
       run: mv $GITHUB_WORKSPACE/src /opt/carma/
+    - name: Determine base branch
+      id: determine-base-branch
+      run: |
+        if [[ "$GITHUB_EVENT_NAME" == "pull_request" ]]; then
+          echo git_branch="$GITHUB_BASE_REF" >> $GITHUB_OUTPUT
+        else
+          echo git_branch="$GITHUB_REF_NAME" >> $GITHUB_OUTPUT
+        fi
     - name: Checkout dependencies
       run: |
         source "$INIT_ENV"
-        ./src/${{ github.event.repository.name }}/docker/checkout.bash -r /opt/carma/
+        ./src/${{ github.event.repository.name }}/docker/checkout.bash -r /opt/carma/ -b ${{ steps.determine-base-branch.outputs.git_branch }}
     - name: Build
       run: |
         source "$INIT_ENV"
@@ -44,4 +66,4 @@ jobs:
       uses: usdot-fhwa-stol/actions/sonar-scanner@main
       with:
         sonar-token: ${{ secrets.SONAR_TOKEN }}
-        working-dir: "/opt/carma/src/${{ github.event.repository.name }}"
+        working-dir: "/opt/carma/src/${{ github.event.repository.name }}"

.github/workflows/docker.yml

@@ -0,0 +1,8 @@
+name: Docker build
+
+on:
+  pull_request:
+      types: [opened, synchronize, reopened]   
+jobs:
+  docker:
+    uses: usdot-fhwa-stol/actions/.github/workflows/docker.yml@main

.github/workflows/dockerhub.yml

@@ -0,0 +1,15 @@
+name: Docker Hub build
+on:
+  push:
+    branches:
+      - "develop"
+      - "master"
+      - "release/*"
+    tags:
+      - "carma-system-*"
+jobs:
+  dockerhub:
+    uses: usdot-fhwa-stol/actions/.github/workflows/dockerhub.yml@main
+    secrets:
+      DOCKERHUB_USERNAME: ${{ secrets.DOCKERHUB_USERNAME }}
+      DOCKERHUB_TOKEN: ${{ secrets.DOCKERHUB_TOKEN }}

Dockerfile

@@ -11,8 +11,11 @@
 #  WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 #  License for the specific language governing permissions and limitations under
 #  the License.
-
-FROM usdotfhwastoldev/carma-base:develop as setup
+ARG DOCKER_ORG="usdotfhwastoldev"
+ARG DOCKER_TAG="develop"
+FROM ${DOCKER_ORG}/carma-base:${DOCKER_TAG} as base_image
+FROM base_image as setup
+ARG GIT_BRANCH="develop" 
 
 ARG ROS1_PACKAGES=""
 ENV ROS1_PACKAGES=${ROS1_PACKAGES}
@@ -21,10 +24,10 @@ ENV ROS2_PACKAGES=${ROS2_PACKAGES}
 
 RUN mkdir ~/src
 COPY --chown=carma . /home/carma/src/
-RUN ~/src/docker/checkout.bash
+RUN ~/src/docker/checkout.bash -b ${GIT_BRANCH}
 RUN ~/src/docker/install.sh
 
-FROM usdotfhwastoldev/carma-base:develop
+FROM setup
 
 ARG BUILD_DATE="NULL"
 ARG VERSION="NULL"

docker/checkout.bash

@@ -20,11 +20,13 @@
 set -exo pipefail
 
 dir=~
+BRANCH=develop  # The script will use this unless the -b flag updates it
 while [[ $# -gt 0 ]]; do
       arg="$1"
       case $arg in
-            -d|--develop)
-                  BRANCH=develop
+            -b|--branch)
+                  BRANCH=$2
+                  shift
                   shift
             ;;
             -r|--root)
@@ -35,10 +37,6 @@ while [[ $# -gt 0 ]]; do
       esac
 done
 
-if [[ "$BRANCH" = "develop" ]]; then
-      git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ${dir}/src/CARMAMsgs --branch $BRANCH
-      git clone https://github.com/usdot-fhwa-stol/carma-utils.git ${dir}/src/CARMAUtils --branch $BRANCH
-else
-      git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ${dir}/src/CARMAMsgs --branch develop
-      git clone https://github.com/usdot-fhwa-stol/carma-utils.git ${dir}/src/CARMAUtils --branch develop
-fi
+git clone https://github.com/usdot-fhwa-stol/carma-msgs.git "${dir}"/src/CARMAMsgs --branch "${BRANCH}"
+git clone https://github.com/usdot-fhwa-stol/carma-utils.git "${dir}"/src/CARMAUtils --branch "${BRANCH}"
+