From 6db22aa946d3edd6cd1a1e5460d282999afa7e9c Mon Sep 17 00:00:00 2001
From: Michael Wrock <michael.wrock@picknik.ai>
Date: Fri, 15 Jul 2022 02:02:30 -0700
Subject: [PATCH] Test docker (#3)

* renamed cartesian limits file (#472)

* Tutorial dockerfiles (#463)

Build and push docker images for tutorials

* fixed clang complaints

* removed dockerhub pushes

* successfully ran htmlproofer

* removed chomp tutorial commits

* removed accidental commits

* Update CMakeLists.txt

* renamed mtc tutorial cpp file

* updated cmakelists

* updated cmakelists

* removed vscode

* refactored docker

* skipping base image

* added conditions on building base image

* added conditions on building base image

* added conditions on building base image

* ran pre commit

* Update .docker/Dockerfile

Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com>

* Update .docker/Dockerfile

Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com>

* resolved comments

* updated location to check for changes

* test change to dockerfile

* test change to dockerfile

* test change to dockerfile

* updated scripts to run only when dockerfile changes

* fixed syntax

* chaged to ros base image

* chaged to ros base image

* update

* removed ccache and change repo names

* removed ccache and change repo names

Co-authored-by: Henry Moore <44307180+henrygerardmoore@users.noreply.github.com>
Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com>
---
 .github/workflows/docker-base.yml   | 16 ++++++++++++++--
 .github/workflows/docker-images.yml | 16 +++++++++++++---
 .github/workflows/docker.yml        |  2 +-
 3 files changed, 28 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/docker-base.yml b/.github/workflows/docker-base.yml
index 18a9a900ea..838e1e8702 100644
--- a/.github/workflows/docker-base.yml
+++ b/.github/workflows/docker-base.yml
@@ -22,19 +22,20 @@ jobs:
       - uses: actions/checkout@v3
         with:
           fetch-depth: 0
-          since_last_remote_commit: true
       - name: Get changed files
         id: changed-files
         uses: tj-actions/changed-files@v23.1
         with:
+          since_last_remote_commit: true
           files: |
             .docker/Dockerfile
             moveit2_tutorials.repos
+            doc/tutorials/*
       - name: Set up Docker Buildx
         if: steps.changed-files.outputs.any_changed == 'true'
         uses: docker/setup-buildx-action@v2
       - name: Login to Github Container Registry
-        if: steps.changed-files.outputs.any_changed == 'true' && env.PUSH == 'true'
+        if: steps.changed-files.outputs.any_changed == 'true'
         uses: docker/login-action@v2
         with:
           registry: ghcr.io
@@ -58,3 +59,14 @@ jobs:
           tags: |
             ${{ env.GH_IMAGE }}
 #            ${{ env.DH_IMAGE }}
+      - name: Build and Push PR Image
+        uses: docker/build-push-action@v3
+        if: steps.changed-files.outputs.any_changed == 'true' && env.PUSH == 'false' &&  github.event_name == 'pull_request'
+        with:
+          file: .docker/Dockerfile
+          build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
+          target: base_image
+          push: true
+          no-cache: false
+          tags: |
+            ${{ env.GH_IMAGE }}-PR-${{ github.head_ref }}
diff --git a/.github/workflows/docker-images.yml b/.github/workflows/docker-images.yml
index 61b940bc70..f85cd74e63 100644
--- a/.github/workflows/docker-images.yml
+++ b/.github/workflows/docker-images.yml
@@ -19,6 +19,10 @@ jobs:
       PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'ros-planning/moveit2_tutorials') }}
 
     steps:
+      - name: Add -PR-<branch_name> to base image if this is a PR
+        if: github.event_name == 'pull_request'
+        run: |
+          echo "BASE_IMAGE_BRANCH=-PR-${{ github.head_ref }}" >> $GITHUB_ENV
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v2
       - name: Login to Github Container Registry
@@ -38,7 +42,9 @@ jobs:
         uses: docker/build-push-action@v3
         with:
           file: .docker/Dockerfile
-          build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
+          build-args: |
+                ROS_DISTRO=${{ matrix.ROS_DISTRO }}
+                BASE_BRANCH=${{ env.BASE_IMAGE_BRANCH }}
           target: hello_world_image
           push: ${{ env.PUSH }}
           no-cache: false
@@ -49,7 +55,9 @@ jobs:
         uses: docker/build-push-action@v3
         with:
           file: .docker/Dockerfile
-          build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
+          build-args: |
+                ROS_DISTRO=${{ matrix.ROS_DISTRO }}
+                BASE_BRANCH=${{ env.BASE_IMAGE_BRANCH }}
           target: planning_around_objects_image
           push: ${{ env.PUSH }}
           no-cache: false
@@ -60,7 +68,9 @@ jobs:
         uses: docker/build-push-action@v3
         with:
           file: .docker/Dockerfile
-          build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
+          build-args: |
+                ROS_DISTRO=${{ matrix.ROS_DISTRO }}
+                BASE_BRANCH=${{ env.BASE_IMAGE_BRANCH }}
           target: pick_and_place_image
           push: ${{ env.PUSH }}
           no-cache: false
diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
index 4904fb4fe1..07c4c1e405 100644
--- a/.github/workflows/docker.yml
+++ b/.github/workflows/docker.yml
@@ -12,7 +12,7 @@ on:
     paths:
       - moveit2_tutorials.repos
       - .docker/**
-      - doc/**
+      - doc/tutorials/**
 
 jobs:
   call-docker-base: