[TASK] Docker Publish CI/CD Workflow

[kluge7]

Description of task

We want to make a workflow for perception-auv, where on push to main, we deploy a Docker image to here.

Suggested Workflow

(Optionally): Trigger the workflow on push to main AND if possible, only when a new version is released see semantic release

1. Setup a workspace folder for ros in the Runner
2. Clone down relevant repositories in the src/ folder
3. Run the Docker build script which makes a Docker image
4. Deploy the Docker image to Github Packages here

Specifications

• Need to setup a ros workspace and clone repositories in dependencies.repos + vortex-auv
• Runs on push to main, and if possible, only rush on new version being released, and then the image that gets deployed, is tagged with this version number

Contacts

• @kluge7
• @chrstrom
• @jorgenfj

Code Quality

• Make a reusable workflow in vortex-ci which can be used both for vortex-auv and perception-auv

[VegraD]

There is a problem with the github runner running out of SSD storage while attempting to build the docker image, as it is too large. We currently have a limit of 14gb of SSD memory on the runner: https://docs.github.com/en/actions/using-github-hosted-runners/using-github-hosted-runners/about-github-hosted-runners#standard-github-hosted-runners-for-public-repositories

The container is bigger than this.... We might have to go pay-to-win or look at creating our own runners to build on runners. Here are the other runner types: https://docs.github.com/en/actions/using-github-hosted-runners/using-larger-runners/about-larger-runners

[kluge7]

https://github.blog/changelog/2025-01-16-linux-arm64-hosted-runners-now-available-for-free-in-public-repositories-public-preview/

[jorgenfj]

This should be revisited if we are now looking to explore the possibility of setting up local runners for simulator tests. @kluge7

[kluge7]

This should be revisited if we are now looking to explore the possibility of setting up local runners for simulator tests. @kluge7

Agree. Gonna do some refactoring for the Docker setup, and hopefully the server we are gonna use for simulator tests can be used to build the Docker image. Worst case we will have to use Orin as a Runner 💀

[jorgenfj]

From what I remember the image, and therefore code is able to be compiled with some hardware independence. When it comes to runtime I think we might be limited to Orin if we can't get new Sim pcs