mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 09:30:25 +08:00
1a3beebcbb
* CI Ubuntu 26.04 / ROS2 Lyrical and Rolling * Added resolute docker * added skip keys * rolling * Disabling rolling * Updated ci config * Enabling docker build (no push) on PR * cancel pr jobs on recommit * Added resolute to docker ci matrix * OpenGV min cmake version * bump package.xml version * enabling rolling * refactored cmake ros ci jobs
241 lines
7.3 KiB
YAML
241 lines
7.3 KiB
YAML
name: docker
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on:
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push:
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branches:
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- 'master'
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pull_request:
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branches:
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- '**'
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concurrency:
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group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
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cancel-in-progress: ${{ github.event_name == 'pull_request' }}
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jobs:
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docker_deps:
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# Disabling ###-deps step from CI because it is too flaky (seg faults, arm64 build timeout...)
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# Only way I was able to build all images is to do it from a ubuntu 20.04 computer with:
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# $ sudo add-apt-repository ppa:canonical-server/server-backports
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# $ sudo apt-get update
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# $ sudo apt-get upgrade qemu-user-static
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# $ docker run --rm --privileged multiarch/qemu-user-static --reset -p yes -c yes
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# More info: https://github.com/introlab/rtabmap/issues/1454
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# Skipped on pull requests; built and pushed only on push to master.
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if: github.event_name != 'pull_request'
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runs-on: ubuntu-latest
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strategy:
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fail-fast: false
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matrix:
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docker_tag: [focal-deps, jammy-deps, noble-deps, noble-kilted-deps, resolute-deps]
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include:
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- docker_tag: focal-deps
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docker_tags: |
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introlab3it/rtabmap:focal-deps
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docker_platforms: |
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linux/amd64
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linux/arm64
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docker_path: 'focal/deps'
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- docker_tag: jammy-deps
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docker_tags: |
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introlab3it/rtabmap:jammy-deps
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docker_platforms: |
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linux/amd64
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linux/arm64
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docker_path: 'jammy/deps'
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- docker_tag: noble-deps
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docker_tags: |
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introlab3it/rtabmap:noble-deps
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docker_platforms: |
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linux/amd64
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linux/arm64
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docker_path: 'noble/deps'
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- docker_tag: noble-kilted-deps
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docker_tags: |
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introlab3it/rtabmap:noble-kilted-deps
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docker_platforms: |
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linux/amd64
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linux/arm64
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docker_path: 'noble-kilted/deps'
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- docker_tag: resolute-deps
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docker_tags: |
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introlab3it/rtabmap:resolute-deps
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docker_platforms: |
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linux/amd64
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linux/arm64
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docker_path: 'resolute/deps'
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steps:
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-
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name: Checkout
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uses: actions/checkout@v2
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-
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name: Set up QEMU
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uses: docker/setup-qemu-action@v3
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with:
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platforms: all
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-
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name: Set up Docker Buildx
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uses: docker/setup-buildx-action@v3
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-
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name: Login to DockerHub
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uses: docker/login-action@v3
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with:
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username: ${{ secrets.DOCKERHUB_USERNAME }}
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password: ${{ secrets.DOCKERHUB_TOKEN }}
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-
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name: Build and push
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uses: docker/build-push-action@v6
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with:
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context: .
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push: true
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platforms: ${{ matrix.docker_platforms }}
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file: ./docker/${{ matrix.docker_path }}/Dockerfile
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tags: ${{ matrix.docker_tags }}
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cache-from: type=registry,ref=introlab3it/rtabmap:${{ matrix.docker_tag }}
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cache-to: type=inline
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docker:
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needs: docker_deps
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# Run even when docker_deps is skipped (it is, on pull requests).
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if: ${{ !cancelled() && !failure() }}
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runs-on: ubuntu-latest
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strategy:
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fail-fast: false
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matrix:
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docker_tag: [bionic, focal, jammy, noble, noble-kilted, resolute, android23, android24, android26, android30]
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include:
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- docker_tag: bionic
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docker_tags: |
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introlab3it/rtabmap:bionic
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introlab3it/rtabmap:18.04
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docker_args: |
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NOT_USED=0
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docker_platforms: |
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linux/amd64
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linux/arm64
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docker_path: 'bionic'
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- docker_tag: focal
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docker_tags: |
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introlab3it/rtabmap:focal
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introlab3it/rtabmap:20.04
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introlab3it/rtabmap:latest
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docker_args: |
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NOT_USED=0
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docker_platforms: |
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linux/amd64
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linux/arm64
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docker_path: 'focal'
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- docker_tag: jammy
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docker_tags: |
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introlab3it/rtabmap:jammy
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introlab3it/rtabmap:22.04
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docker_args: |
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NOT_USED=0
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docker_platforms: |
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linux/amd64
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linux/arm64
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docker_path: 'jammy'
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- docker_tag: noble
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docker_tags: |
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introlab3it/rtabmap:noble
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introlab3it/rtabmap:24.04
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docker_args: |
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NOT_USED=0
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docker_platforms: |
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linux/amd64
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linux/arm64
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docker_path: 'noble'
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- docker_tag: noble-kilted
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docker_tags: |
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introlab3it/rtabmap:noble-kilted
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docker_args: |
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NOT_USED=0
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docker_platforms: |
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linux/amd64
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linux/arm64
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docker_path: 'noble-kilted'
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- docker_tag: resolute
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docker_tags: |
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introlab3it/rtabmap:resolute
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introlab3it/rtabmap:26.04
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docker_args: |
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NOT_USED=0
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docker_platforms: |
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linux/amd64
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linux/arm64
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docker_path: 'resolute'
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- docker_tag: android23
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docker_tags: |
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introlab3it/rtabmap:android23
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introlab3it/rtabmap:tango
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docker_args: |
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API_VERSION=23
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docker_platforms: |
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linux/amd64
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docker_path: 'noble/android/rtabmap_apiXX'
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- docker_tag: android24
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docker_tags: |
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introlab3it/rtabmap:android24
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docker_args: |
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API_VERSION=24
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docker_platforms: |
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linux/amd64
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docker_path: 'noble/android/rtabmap_apiXX'
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- docker_tag: android26
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docker_tags: |
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introlab3it/rtabmap:android26
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docker_args: |
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API_VERSION=26
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docker_platforms: |
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linux/amd64
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docker_path: 'noble/android/rtabmap_apiXX'
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- docker_tag: android30
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docker_tags: |
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introlab3it/rtabmap:android30
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docker_args: |
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API_VERSION=30
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docker_platforms: |
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linux/amd64
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docker_path: 'noble/android/rtabmap_apiXX'
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steps:
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-
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name: Checkout
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uses: actions/checkout@v2
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-
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name: Set up QEMU
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uses: docker/setup-qemu-action@v3
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with:
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platforms: all
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-
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name: Set up Docker Buildx
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uses: docker/setup-buildx-action@v3
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-
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name: Login to DockerHub
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# Only needed when pushing; skipped on pull requests (secrets are
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# unavailable for fork PRs and we don't push there anyway).
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if: github.event_name != 'pull_request'
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uses: docker/login-action@v3
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with:
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username: ${{ secrets.DOCKERHUB_USERNAME }}
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password: ${{ secrets.DOCKERHUB_TOKEN }}
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-
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name: Build and push
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uses: docker/build-push-action@v6
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with:
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context: .
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push: ${{ github.event_name != 'pull_request' }}
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platforms: ${{ github.event_name == 'pull_request' && 'linux/amd64' || matrix.docker_platforms }}
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file: ./docker/${{ matrix.docker_path }}/Dockerfile
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build-args: |
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${{ matrix.docker_args }}
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tags: ${{ matrix.docker_tags }}
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cache-from: type=registry,ref=introlab3it/rtabmap:${{ matrix.docker_tag }}
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cache-to: type=inline
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