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ci: add SITL container image workflow
Build and publish multi-arch Docker runtime images for PX4 SITL on git tags, matching the px4-dev container pattern. Pipeline: setup -> build-deb (Noble only) -> build-docker -> deploy Images: px4io/px4-sitl-sih and px4io/px4-sitl-gazebo (+ GHCR) Architectures: linux/amd64 + linux/arm64 via native runners Uses runs-on with S3 cache for ccache and apt packages. Reuses the existing build-deb composite action. Signed-off-by: Ramon Roche <mrpollo@gmail.com>
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‎.github/workflows/sitl_containers.yml‎

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name: SITL Container Images
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on:
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push:
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tags: ['v*']
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pull_request:
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paths:
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- '.github/workflows/sitl_containers.yml'
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- 'Tools/packaging/Dockerfile.*'
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- 'Tools/packaging/px4-entrypoint.sh'
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- 'cmake/package.cmake'
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workflow_dispatch:
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inputs:
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px4_version:
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description: 'Image tag (e.g. v1.17.0)'
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required: true
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type: string
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deploy_to_registry:
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description: 'Push images to registry'
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required: false
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type: boolean
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default: false
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concurrency:
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group: ${{ github.workflow }}-${{ github.ref }}
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cancel-in-progress: true
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permissions:
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contents: read
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packages: write
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env:
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RUNS_IN_DOCKER: true
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jobs:
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setup:
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name: Set Tags and Variables
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runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
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outputs:
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px4_version: ${{ steps.px4_version.outputs.px4_version }}
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should_push: ${{ steps.push_check.outputs.should_push }}
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steps:
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- uses: runs-on/action@v1
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- uses: actions/checkout@v4
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with:
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fetch-tags: true
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submodules: false
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fetch-depth: 0
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- name: Set PX4 version
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id: px4_version
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run: |
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if [[ "${{ github.event_name }}" == "workflow_dispatch" ]]; then
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echo "px4_version=${{ github.event.inputs.px4_version }}" >> $GITHUB_OUTPUT
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else
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echo "px4_version=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
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fi
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- name: Check if we should push
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id: push_check
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run: |
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if [[ "${{ startsWith(github.ref, 'refs/tags/') }}" == "true" ]] || \
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[[ "${{ github.event_name }}" == "workflow_dispatch" && "${{ github.event.inputs.deploy_to_registry }}" == "true" ]]; then
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echo "should_push=true" >> $GITHUB_OUTPUT
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else
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echo "should_push=false" >> $GITHUB_OUTPUT
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fi
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build-deb:
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name: "Build .deb (${{ matrix.target }}/${{ matrix.arch }})"
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needs: setup
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runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
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container:
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image: ubuntu:24.04
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volumes:
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- /github/workspace:/github/workspace
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strategy:
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fail-fast: false
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matrix:
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include:
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- { target: sih, arch: amd64, runner: x64, setup_flags: "--no-sim-tools" }
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- { target: sih, arch: arm64, runner: arm64, setup_flags: "--no-sim-tools" }
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- { target: default, arch: amd64, runner: x64, setup_flags: "" }
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- { target: default, arch: arm64, runner: arm64, setup_flags: "" }
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steps:
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- name: Fix git in container
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run: |
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apt-get update && apt-get install -y git
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git config --global --add safe.directory $(realpath .)
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- uses: actions/checkout@v4
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with:
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fetch-depth: 0
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fetch-tags: true
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- name: Cache apt packages
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uses: actions/cache@v4
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with:
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path: /var/cache/apt/archives
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key: apt-${{ matrix.target }}-${{ matrix.arch }}-${{ hashFiles('Tools/setup/ubuntu.sh') }}
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restore-keys: apt-${{ matrix.target }}-${{ matrix.arch }}-
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- name: Install dependencies
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run: ./Tools/setup/ubuntu.sh --no-nuttx ${{ matrix.setup_flags }}
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- name: Build and package .deb
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uses: ./.github/actions/build-deb
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with:
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target: ${{ matrix.target }}
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artifact-name: sitl-deb-${{ matrix.target }}-${{ matrix.arch }}
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ccache-key-prefix: sitl-docker-ccache-${{ matrix.target }}-${{ matrix.arch }}
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build-docker:
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name: "Build Image (${{ matrix.image }}/${{ matrix.arch }})"
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needs: [setup, build-deb]
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runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
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strategy:
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fail-fast: false
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matrix:
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include:
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- { image: sih, target: sih, arch: amd64, runner: x64, platform: "linux/amd64", dockerfile: Dockerfile.sih }
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- { image: sih, target: sih, arch: arm64, runner: arm64, platform: "linux/arm64", dockerfile: Dockerfile.sih }
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- { image: gazebo, target: default, arch: amd64, runner: x64, platform: "linux/amd64", dockerfile: Dockerfile.gazebo }
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- { image: gazebo, target: default, arch: arm64, runner: arm64, platform: "linux/arm64", dockerfile: Dockerfile.gazebo }
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steps:
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- uses: runs-on/action@v1
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- uses: actions/checkout@v4
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with:
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submodules: false
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fetch-depth: 1
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- name: Download .deb artifact
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uses: actions/download-artifact@v4
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with:
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name: sitl-deb-${{ matrix.target }}-${{ matrix.arch }}
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path: docker-context
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- name: Prepare build context
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run: |
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cp Tools/packaging/px4-entrypoint.sh docker-context/
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ls -lh docker-context/
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- name: Login to Docker Hub
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uses: docker/login-action@v3
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if: needs.setup.outputs.should_push == 'true'
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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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- name: Login to GitHub Container Registry
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uses: docker/login-action@v3
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if: needs.setup.outputs.should_push == 'true'
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with:
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registry: ghcr.io
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username: ${{ github.actor }}
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password: ${{ secrets.GITHUB_TOKEN }}
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- name: Set up Docker Buildx
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uses: docker/setup-buildx-action@v3
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with:
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driver: docker-container
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platforms: ${{ matrix.platform }}
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- name: Cache apt packages for Docker build
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uses: actions/cache@v4
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id: apt-cache
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with:
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path: /tmp/apt-cache
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key: docker-apt-${{ matrix.image }}-${{ matrix.arch }}-${{ hashFiles(format('Tools/packaging/{0}', matrix.dockerfile)) }}
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restore-keys: docker-apt-${{ matrix.image }}-${{ matrix.arch }}-
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- name: Inject apt cache into Docker build
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if: matrix.image == 'gazebo'
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run: |
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mkdir -p /tmp/apt-cache
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# Mount apt cache as a build arg directory if it exists
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if [ -d /tmp/apt-cache ] && [ "$(ls -A /tmp/apt-cache 2>/dev/null)" ]; then
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echo "APT_CACHE_AVAILABLE=true" >> $GITHUB_ENV
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fi
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- name: Build and push container image
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uses: docker/build-push-action@v6
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with:
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context: docker-context
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file: Tools/packaging/${{ matrix.dockerfile }}
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tags: |
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px4io/px4-sitl-${{ matrix.image }}:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
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ghcr.io/px4/px4-sitl-${{ matrix.image }}:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
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platforms: ${{ matrix.platform }}
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load: false
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push: ${{ needs.setup.outputs.should_push == 'true' }}
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provenance: false
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cache-from: type=gha,scope=sitl-${{ matrix.image }}-${{ matrix.arch }}
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cache-to: type=gha,mode=max,scope=sitl-${{ matrix.image }}-${{ matrix.arch }}
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deploy:
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name: Create Multi-Arch Manifests
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needs: [setup, build-docker]
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if: needs.setup.outputs.should_push == 'true'
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runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
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strategy:
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matrix:
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image: [sih, gazebo]
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steps:
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- uses: runs-on/action@v1
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- name: Login to Docker Hub
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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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- name: Login to GitHub Container Registry
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uses: docker/login-action@v3
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with:
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registry: ghcr.io
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username: ${{ github.actor }}
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password: ${{ secrets.GITHUB_TOKEN }}
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- name: Verify per-arch images exist
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run: |
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for registry in px4io ghcr.io/px4; do
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for arch in amd64 arm64; do
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docker manifest inspect ${registry}/px4-sitl-${{ matrix.image }}:${{ needs.setup.outputs.px4_version }}-${arch} \
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|| echo "Warning: ${registry}/px4-sitl-${{ matrix.image }}:${{ needs.setup.outputs.px4_version }}-${arch} not found"
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done
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done
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- name: Create and push multi-arch manifest (Docker Hub)
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run: |
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VERSION="${{ needs.setup.outputs.px4_version }}"
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IMAGE="px4io/px4-sitl-${{ matrix.image }}"
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docker manifest create ${IMAGE}:${VERSION} \
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--amend ${IMAGE}:${VERSION}-arm64 \
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--amend ${IMAGE}:${VERSION}-amd64
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docker manifest annotate ${IMAGE}:${VERSION} ${IMAGE}:${VERSION}-arm64 --arch arm64
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docker manifest annotate ${IMAGE}:${VERSION} ${IMAGE}:${VERSION}-amd64 --arch amd64
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docker manifest push ${IMAGE}:${VERSION}
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- name: Create and push multi-arch manifest (GHCR)
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run: |
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VERSION="${{ needs.setup.outputs.px4_version }}"
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IMAGE="ghcr.io/px4/px4-sitl-${{ matrix.image }}"
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docker manifest create ${IMAGE}:${VERSION} \
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--amend ${IMAGE}:${VERSION}-arm64 \
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--amend ${IMAGE}:${VERSION}-amd64
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docker manifest annotate ${IMAGE}:${VERSION} ${IMAGE}:${VERSION}-arm64 --arch arm64
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docker manifest annotate ${IMAGE}:${VERSION} ${IMAGE}:${VERSION}-amd64 --arch amd64
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docker manifest push ${IMAGE}:${VERSION}

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