docker.yaml

name: Docker

on:
  schedule:
    # 6 AM UTC every Sunday
    - cron: "0 6 * * 6"
  workflow_dispatch:
  push:
    branches:
      - noetic-devel
    paths:
      - '**/package.xml'
      - .docker
      - .dockignore
      - .github/workflows/docker.yml
      - .github/workflows/*.rosinstall

concurrency: # cancel any previous workflow(s) from the same PR or branch/tag
  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
  cancel-in-progress: true

jobs:
  ci:
    strategy:
      fail-fast: false
      matrix:
        ROS_DISTRO: [noetic, one]
    runs-on: ubuntu-latest
    permissions:
      packages: write
      contents: read
    env:
      IMAGE: ubiagni/mujoco_ros:${{ matrix.ROS_DISTRO }}-${{ github.job }}
      MUJOCO_VERSIONS: 3.2.0

    steps:
      - name: Check for apt updates
        uses: rhaschke/docker-run-action@main
        continue-on-error: true
        id: apt
        with:
          image: ${{ env.IMAGE }}
          shell: bash
          run: |
            apt-get update
            have_updates=$(apt-get --simulate upgrade | grep -q "^0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.$" && echo false || echo true)
            echo "no_cache=$have_updates" >> "$GITHUB_OUTPUT"
      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v3
        if: ${{ github.event_name == 'workflow_dispatch' || github.event_name != 'schedule' || steps.apt.outputs.no_cache }}
      - name: Login to Container Registry
        uses: docker/login-action@v3
        with:
          username: ${{ secrets.DOCKERHUB_USERNAME }}
          password: ${{ secrets.DOCKERHUB_TOKEN }}
      - name: Build and push
        uses: docker/build-push-action@v5
        if: ${{ github.event_name == 'workflow_dispatch' || github.event_name != 'schedule' || steps.apt.outputs.no_cache }}
        with:
          file: .docker/Dockerfile
          build-args: |
            ROS_DISTRO=${{ matrix.ROS_DISTRO }}
            BASE_DOCKER_NAME=${{ matrix.ROS_DISTRO == 'one' && 'jammy' || matrix.ROS_DISTRO }}
            MUJOCO_VERSIONS=${{ env.MUJOCO_VERSIONS }}
            IMAGE_PREFIX=${{ matrix.ROS_DISTRO == 'one' && 'ubiagni/' || '' }}
          push: true
          no-cache: ${{ steps.apt.outputs.no_cache || github.event_name == 'workflow_dispatch' }}
          cache-from: type=registry,ref=${{ env.IMAGE }}
          cache-to: type=inline
          tags: ${{ env.IMAGE }}