mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-20 11:23:06 +08:00
build(packaging): add PX4 SITL .deb packages
Add cmake/cpack infrastructure for building .deb packages from px4_sitl_sih and px4_sitl_default targets. Includes install rules, package scripts, Gazebo wrapper, and CI workflow. Signed-off-by: Ramon Roche <mrpollo@gmail.com>
This commit is contained in:
Ramon Roche
@@ -0,0 +1,115 @@
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name: Build PX4 .deb Package
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description: Build PX4 SITL, run cpack, validate the .deb, and upload artifact
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inputs:
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target:
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description: 'Build target: default or sih'
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required: true
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artifact-name:
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description: Name for the uploaded artifact
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required: true
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ccache-key-prefix:
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description: Prefix for ccache cache keys
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default: deb-ccache
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ccache-max-size:
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description: Maximum ccache size
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default: 400M
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runs:
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using: composite
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steps:
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- name: Restore ccache
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id: ccache-restore
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uses: actions/cache/restore@v4
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with:
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path: ~/.ccache
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key: ${{ inputs.ccache-key-prefix }}-${{ github.ref_name }}-${{ github.sha }}
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restore-keys: |
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${{ inputs.ccache-key-prefix }}-${{ github.ref_name }}-
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${{ inputs.ccache-key-prefix }}-${{ github.base_ref || 'main' }}-
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${{ inputs.ccache-key-prefix }}-
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- name: Configure ccache
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shell: bash
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run: |
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mkdir -p ~/.ccache
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echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
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echo "compression = true" >> ~/.ccache/ccache.conf
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echo "compression_level = 6" >> ~/.ccache/ccache.conf
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echo "max_size = ${{ inputs.ccache-max-size }}" >> ~/.ccache/ccache.conf
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echo "hash_dir = false" >> ~/.ccache/ccache.conf
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echo "compiler_check = content" >> ~/.ccache/ccache.conf
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ccache -s
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ccache -z
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- name: Build PX4 SITL
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shell: bash
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run: make px4_sitl_${{ inputs.target }}
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- name: ccache stats
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if: always()
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shell: bash
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run: ccache -s
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- name: Save ccache
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uses: actions/cache/save@v4
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if: always()
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with:
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path: ~/.ccache
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key: ${{ inputs.ccache-key-prefix }}-${{ github.ref_name }}-${{ github.sha }}
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- name: Build .deb package
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shell: bash
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run: |
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cd build/px4_sitl_${{ inputs.target }}
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cpack -G DEB
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- name: Print package info and contents
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shell: bash
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run: |
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cd build/px4_sitl_${{ inputs.target }}
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echo "--- Package info ---"
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dpkg-deb -I *.deb
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echo "--- Package contents ---"
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dpkg-deb -c *.deb
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- name: Validate sih package
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if: inputs.target == 'sih'
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shell: bash
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run: |
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cd build/px4_sitl_sih
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echo "--- Verify NO Gazebo resources ---"
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! dpkg-deb -c px4_*.deb | grep share/gz > /dev/null && echo "PASS: no Gazebo" || { echo "FAIL: Gazebo found"; exit 1; }
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echo "--- Install test ---"
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dpkg -i px4_*.deb
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test -x /opt/px4/bin/px4 || { echo "FAIL: px4 binary not found"; exit 1; }
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test -L /usr/bin/px4 || { echo "FAIL: symlink not created"; exit 1; }
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test ! -d /opt/px4/share/gz || { echo "FAIL: Gazebo dir should not exist"; exit 1; }
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echo "--- Smoke test ---"
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/opt/px4/bin/px4 -h
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echo "PASS: sih package validation successful"
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- name: Validate gazebo package
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if: inputs.target == 'default'
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shell: bash
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run: |
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cd build/px4_sitl_default
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echo "--- Verify Gazebo resources in package ---"
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dpkg-deb -c px4-gazebo_*.deb | grep share/gz/models > /dev/null || { echo "FAIL: models missing"; exit 1; }
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dpkg-deb -c px4-gazebo_*.deb | grep share/gz/worlds > /dev/null || { echo "FAIL: worlds missing"; exit 1; }
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echo "--- Install test ---"
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dpkg -i px4-gazebo_*.deb
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test -x /opt/px4-gazebo/bin/px4 || { echo "FAIL: px4 binary not found"; exit 1; }
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test -x /opt/px4-gazebo/bin/px4-gazebo || { echo "FAIL: wrapper not found"; exit 1; }
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test -L /usr/bin/px4-gazebo || { echo "FAIL: symlink not created"; exit 1; }
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test -d /opt/px4-gazebo/share/gz/models || { echo "FAIL: Gazebo models not installed"; exit 1; }
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echo "--- Smoke test ---"
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/opt/px4-gazebo/bin/px4 -h
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echo "PASS: gazebo package validation successful"
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- name: Upload .deb artifacts
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uses: actions/upload-artifact@v4
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with:
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name: ${{ inputs.artifact-name }}
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path: build/px4_sitl_${{ inputs.target }}/*.deb
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if-no-files-found: error
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@@ -0,0 +1,252 @@
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name: SITL Packages and Containers
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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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- 'cmake/package.cmake'
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- 'platforms/posix/CMakeLists.txt'
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- 'Tools/packaging/**'
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- 'boards/px4/sitl/sih.px4board'
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- '.github/workflows/build_deb_package.yml'
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- '.github/actions/build-deb/**'
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workflow_dispatch:
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inputs:
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deploy_containers:
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description: 'Push container 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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# ---------------------------------------------------------------------------
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# Setup: extract version and determine whether to push containers
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# ---------------------------------------------------------------------------
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setup:
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name: Setup
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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: ${{ steps.push_check.outputs.should_push }}
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steps:
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- uses: runs-on/action@v2
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- uses: actions/checkout@v4
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with:
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fetch-tags: true
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submodules: false
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fetch-depth: 0
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- name: Set PX4 version
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id: px4_version
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run: echo "px4_version=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
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- name: Check if we should push containers
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id: push_check
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run: |
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if [[ "${{ startsWith(github.ref, 'refs/tags/') }}" == "true" ]] || \
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[[ "${{ github.event_name }}" == "workflow_dispatch" && "${{ github.event.inputs.deploy_containers }}" == "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" >> $GITHUB_OUTPUT
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fi
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# ---------------------------------------------------------------------------
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# Build .deb packages (all distros, arches, targets)
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# ---------------------------------------------------------------------------
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build-deb:
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name: "Build .deb (${{ matrix.target }}/${{ matrix.codename }}/${{ 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: ${{ matrix.container }}
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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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# Gazebo builds
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- { codename: noble, arch: amd64, runner: x64, container: "ubuntu:24.04", target: default, setup_flags: "" }
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- { codename: noble, arch: arm64, runner: arm64, container: "ubuntu:24.04", target: default, setup_flags: "" }
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- { codename: jammy, arch: amd64, runner: x64, container: "ubuntu:22.04", target: default, setup_flags: "" }
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- { codename: jammy, arch: arm64, runner: arm64, container: "ubuntu:22.04", target: default, setup_flags: "" }
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# SIH builds
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- { codename: noble, arch: amd64, runner: x64, container: "ubuntu:24.04", target: sih, setup_flags: "--no-sim-tools" }
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- { codename: noble, arch: arm64, runner: arm64, container: "ubuntu:24.04", target: sih, setup_flags: "--no-sim-tools" }
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- { codename: jammy, arch: amd64, runner: x64, container: "ubuntu:22.04", target: sih, setup_flags: "--no-sim-tools" }
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- { codename: jammy, arch: arm64, runner: arm64, container: "ubuntu:22.04", target: sih, setup_flags: "--no-sim-tools" }
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steps:
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- uses: runs-on/action@v2
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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 }}-${{ matrix.codename }}-${{ matrix.arch }}-${{ hashFiles('Tools/setup/ubuntu.sh') }}
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restore-keys: apt-${{ matrix.target }}-${{ matrix.codename }}-${{ 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: ${{ matrix.target }}
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artifact-name: px4-sitl-debs-${{ matrix.target }}-${{ matrix.codename }}-${{ matrix.arch }}
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ccache-key-prefix: deb-ccache-${{ matrix.target }}-${{ matrix.codename }}-${{ matrix.arch }}
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# ---------------------------------------------------------------------------
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# Build Docker images from Noble .debs
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# ---------------------------------------------------------------------------
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build-docker:
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name: "Build Image (${{ 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@v2
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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 Noble .deb artifact
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uses: actions/download-artifact@v4
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with:
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name: px4-sitl-debs-${{ matrix.target }}-noble-${{ 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: ${{ matrix.platform }}
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- name: Build and push container image
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uses: docker/build-push-action@v6
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with:
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context: docker-context
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file: Tools/packaging/${{ 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 }}-${{ matrix.arch }}
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# ---------------------------------------------------------------------------
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# Deploy: create multi-arch manifests and push to registries
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# ---------------------------------------------------------------------------
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deploy:
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name: "Deploy (${{ matrix.image }})"
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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@v2
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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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