Adds manylinux-based docker image for maliput wheel creation (#315)

Signed-off-by: Franco Cipollone <[email protected]>

.github/workflows/build.yml

@@ -2,7 +2,11 @@ name: gcc
 
 on:
   push:
+    branches:
+      - main
   pull_request:
+    branches:
+      - main
   workflow_dispatch:
   schedule:
     - cron:  '0 9 * * *' # 9:00am UTC, 1:00am PST.
@@ -14,6 +18,11 @@ env:
   UBUNTU_NAME: focal
   UBUNTU_VERSION: 20.04
 
+# Cancel previously running PR jobs
+concurrency:
+  group: '${{ github.workflow }} @ ${{ github.event.pull_request.head.label || github.head_ref || github.ref }}'
+  cancel-in-progress: true
+
 jobs:
   compile_and_test:
     name: Compile and test

.github/workflows/maliput_full.yml

@@ -2,6 +2,8 @@ name: maliput_full_build
 
 on:
   push:
+    branches:
+      - main
   pull_request:
     branches:
       - main
@@ -13,6 +15,11 @@ env:
   PACKAGE_NAME: maliput_full
   ROS_DISTRO: foxy
 
+# Cancel previously running PR jobs
+concurrency:
+  group: '${{ github.workflow }} @ ${{ github.event.pull_request.head.label || github.head_ref || github.ref }}'
+  cancel-in-progress: true
+
 jobs:
   compile_and_test:
     name: Build

.github/workflows/manylinux_image_deploy.yml

@@ -0,0 +1,26 @@
+name: manylinux-maliput image
+
+on:
+  workflow_dispatch:
+  pull_request:
+    types: [labeled]
+
+jobs:
+  build_and_push:
+    if: ${{ contains(github.event.pull_request.labels.*.name, 'do-manylinux-image-build') || github.event_name == 'workflow_dispatch'}}
+    runs-on: ubuntu-latest
+
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v2
+
+    - name: Login to GitHub Container Registry
+      run: echo ${{ secrets.GITHUB_TOKEN }} | docker login ghcr.io -u ${{ github.repository_owner }} --password-stdin
+
+    - name: Build and tag Docker image
+      working-directory: wheel_generation/
+      run: |
+        docker build -t ghcr.io/${{ github.repository_owner }}/manylinux2014_maliput:latest .
+
+    - name: Push Docker image to GHCR
+      run: docker push ghcr.io/${{ github.repository_owner }}/manylinux2014_maliput:latest

wheel_generation/Dockerfile

@@ -0,0 +1,69 @@
+FROM quay.io/pypa/manylinux2014_x86_64
+
+##########################################################################
+# General setup
+##########################################################################
+RUN echo "export PATH=/opt/python/cp38-cp38/bin:\$PATH" >> /root/.bashrc
+RUN export PATH=/opt/python/cp38-cp38/bin:$PATH
+
+##########################################################################
+# Install prerequisites.
+##########################################################################
+
+# colcon.
+RUN /opt/python/cp38-cp38/bin/pip install colcon-common-extensions
+RUN /opt/python/cp38-cp38/bin/pip install python-dev-tools
+
+##########################################################################
+# Install CMake dependencies
+##########################################################################
+
+# yaml-cpp
+WORKDIR /source_builds/
+RUN git clone -b yaml-cpp-0.7.0 https://github.com/jbeder/yaml-cpp.git yaml-cpp
+WORKDIR /source_builds/yaml-cpp/build
+RUN cmake -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=Release .. && make -j$(nproc) && make install
+
+# tinyxml2
+WORKDIR /source_builds/
+RUN git clone -b 7.1.0 https://github.com/leethomason/tinyxml2.git tinyxml2
+WORKDIR /source_builds/tinyxml2/build
+RUN cmake -DCMAKE_BUILD_TYPE=Release .. && make -j$(nproc) && make install
+
+# pybind11
+# See https://pybind11.readthedocs.io/en/stable/installing.html#include-with-pypi
+# pybind11 (global) for pybind11 available directly in your environment root, e.g. /usr/local
+# This brings a different version as the one used in ROS Foxy (2.4.3) however the global version isn't provided
+# in the latter.
+RUN /opt/python/cp38-cp38/bin/pip install "pybind11[global]==2.11.1"
+
+##########################################################################
+# Install Colcon packages
+##########################################################################
+
+WORKDIR /colcon_builds/src/
+
+# ament_cmake
+RUN git clone -b foxy https://github.com/ament/ament_cmake.git
+
+# ament_package
+RUN git clone -b foxy https://github.com/ament/ament_package.git
+
+# eigen3_cmake_module
+RUN yum install eigen3 -y
+RUN git clone -b foxy https://github.com/ros2/eigen3_cmake_module.git
+
+# Build colcon packages
+WORKDIR /colcon_builds/
+RUN PATH=/opt/python/cp38-cp38/bin:$PATH /opt/python/cp38-cp38/bin/colcon build --cmake-args " -DBUILD_TESTING=Off"
+RUN source /colcon_builds/install/setup.bash
+RUN echo "source /colcon_builds/install/setup.bash" >> /root/.bashrc
+
+##########################################################################
+# Final config
+##########################################################################
+
+RUN mkdir -p /ws/src
+WORKDIR /ws
+
+CMD ["/bin/bash"]

wheel_generation/README.md

@@ -0,0 +1,23 @@
+## Wheel generation
+
+### Summary
+
+A dockerfile is provided for creating a [manylinux](https://github.com/pypa/manylinux)-compatible wheels of maliput packages.
+
+
+It is based on the `quay.io/pypa/manylinux2014_x86_64` image (See [manylinux#docker_images](https://github.com/pypa/manylinux#docker-images)) and adds the corresponding dependencies to build `maliput` packages.
+
+It is verified for the following packages:
+- maliput
+- maliput_py
+- maliput_malidrive
+
+### Usage
+
+```
+docker build -t maliput_manylinux2014 .
+```
+
+```
+docker run --rm -it maliput_manylinux2014 bash
+```