Update Dockerfile

Splitting in more layers. Rearranging

.github/workflows/docker-publish.yml

@@ -0,0 +1,97 @@
+name: Docker
+
+# This workflow uses actions that are not certified by GitHub.
+# They are provided by a third-party and are governed by
+# separate terms of service, privacy policy, and support
+# documentation.
+
+on:
+  schedule:
+    - cron: '25 23 * * *'
+  push:
+    branches: [ "build-action" ]
+    # Publish semver tags as releases.
+    tags: [ 'v*.*.*' ]
+  pull_request:
+    branches: [ "build-action" ]
+
+env:
+  # Use docker.io for Docker Hub if empty
+  REGISTRY: ghcr.io
+  # github.repository as <account>/<repo>
+  IMAGE_NAME: ${{ github.repository }}
+
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      packages: write
+      # This is used to complete the identity challenge
+      # with sigstore/fulcio when running outside of PRs.
+      id-token: write
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v3
+
+      # Install the cosign tool except on PR
+      # https://github.com/sigstore/cosign-installer
+      - name: Install cosign
+        if: github.event_name != 'pull_request'
+        uses: sigstore/cosign-installer@6e04d228eb30da1757ee4e1dd75a0ec73a653e06 #v3.1.1
+        with:
+          cosign-release: 'v2.1.1'
+
+      # Workaround: https://github.com/docker/build-push-action/issues/461
+      - name: Setup Docker buildx
+        uses: docker/setup-buildx-action@79abd3f86f79a9d68a23c75a09a9a85889262adf
+
+      # Login against a Docker registry except on PR
+      # https://github.com/docker/login-action
+      - name: Log into registry ${{ env.REGISTRY }}
+        if: github.event_name != 'pull_request'
+        uses: docker/login-action@28218f9b04b4f3f62068d7b6ce6ca5b26e35336c
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      # Extract metadata (tags, labels) for Docker
+      # https://github.com/docker/metadata-action
+      - name: Extract Docker metadata
+        id: meta
+        uses: docker/metadata-action@98669ae865ea3cffbcbaa878cf57c20bbf1c6c38
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+
+      # Build and push Docker image with Buildx (don't push on PR)
+      # https://github.com/docker/build-push-action
+      - name: Build and push Docker image
+        id: build-and-push
+        uses: docker/build-push-action@ac9327eae2b366085ac7f6a2d02df8aa8ead720a
+        with:
+          context: .
+          push: ${{ github.event_name != 'pull_request' }}
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          cache-from: type=gha
+          cache-to: type=gha,mode=max
+
+
+      # Sign the resulting Docker image digest except on PRs.
+      # This will only write to the public Rekor transparency log when the Docker
+      # repository is public to avoid leaking data.  If you would like to publish
+      # transparency data even for private images, pass --force to cosign below.
+      # https://github.com/sigstore/cosign
+      - name: Sign the published Docker image
+        if: ${{ github.event_name != 'pull_request' }}
+        env:
+          # https://docs.github.com/en/actions/security-guides/security-hardening-for-github-actions#using-an-intermediate-environment-variable
+          TAGS: ${{ steps.meta.outputs.tags }}
+          DIGEST: ${{ steps.build-and-push.outputs.digest }}
+        # This step uses the identity token to provision an ephemeral certificate
+        # against the sigstore community Fulcio instance.
+        run: echo "${TAGS}" | xargs -I {} cosign sign --yes {}@${DIGEST}

docker/Dockerfile

@@ -45,8 +45,9 @@ WORKDIR /rmp_ws
 RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
  && apt-get update -y \
  && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
- && colcon build --symlink-install \
- && rm -rf /var/lib/apt/lists/* 
+
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
+ && colcon build --symlink-install
 
 # Use Cyclone DDS as middleware
 RUN apt-get update && apt-get install -y --no-install-recommends \
@@ -72,11 +73,14 @@ RUN vcs import < overlay.repos
 WORKDIR /overlay_ws
 
 RUN source /rmp_ws/install/setup.bash \
- && colcon build --symlink-install \
  && apt-get update \
  && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
  && rm -rf /var/lib/apt/lists/*
 
+
+RUN source /rmp_ws/install/setup.bash \
+ && colcon build --symlink-install
+
 # Set up the entrypoint
 COPY ./docker/entrypoint.sh /
 RUN chmod +x /entrypoint.sh
@@ -96,12 +100,14 @@ FROM overlay AS guis
 
 # Install additional GUI tools
 RUN source /rmp_ws/install/setup.bash \
- && colcon build --symlink-install \
  && apt-get update \
  && apt-get install -y --no-install-recommends ros-${ROS_DISTRO}-rviz2 \
  && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
  && rm -rf /var/lib/apt/lists/*
 
+RUN source /rmp_ws/install/setup.bash \
+ && colcon build --symlink-install \
+
 # Set up the entrypoint
 ENTRYPOINT [ "/entrypoint.sh" ]
 

office1_map_save.yaml

@@ -0,0 +1,7 @@
+image: office1_map_save.pgm
+mode: trinary
+resolution: 0.05
+origin: [1.87, -8.61, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25