Build Docker image

Author: ecervera

.github/workflows/publish-image.yaml

@@ -0,0 +1,50 @@
+# This workflow uses actions that are not certified by GitHub.
+# They are provided by a third-party and are governed by
+# separate terms of service, privacy policy, and support
+# documentation.
+
+# GitHub recommends pinning actions to a commit SHA.
+# To get a newer version, you will need to update the SHA.
+# You can also reference a tag or branch, but the action may change without warning.
+
+name: Create and publish a Docker image
+
+on:
+  push:
+    branches: ['master']
+
+env:
+  REGISTRY: ghcr.io
+  IMAGE_NAME: ${{ github.repository }}
+
+jobs:
+  build-and-push-image:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      packages: write
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v3
+
+      - name: Log in to the Container registry
+        uses: docker/login-action@f054a8b539a109f9f41c372932f1ae047eff08c9
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Extract metadata (tags, labels) for Docker
+        id: meta
+        uses: docker/metadata-action@98669ae865ea3cffbcbaa878cf57c20bbf1c6c38
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+
+      - name: Build and push Docker image
+        uses: docker/build-push-action@ad44023a93711e3deb337508980b4b5e9bcdc5dc
+        with:
+          context: .
+          push: true
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}

Dockerfile

@@ -0,0 +1,34 @@
+FROM osrf/ros:noetic-desktop-full
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update \
+ && apt-get install -y git \
+ && rm -rf /var/lib/apt/lists/*
+
+# apt packages
+
+RUN apt-get update \
+ && apt-get install -y libsuitesparse-dev \
+ && rm -rf /var/lib/apt/lists/*
+
+# Code repository
+
+RUN mkdir -p /catkin_ws/src/
+
+RUN git clone --recurse-submodules \
+      https://github.com/RobotResearchRepos/KumarRobotics_msckf_vio \
+      /catkin_ws/src/msckf_vio
+
+RUN . /opt/ros/$ROS_DISTRO/setup.sh \
+ && apt-get update \
+ && rosdep install -r -y \
+     --from-paths /catkin_ws/src \
+     --ignore-src \
+ && rm -rf /var/lib/apt/lists/*
+
+RUN . /opt/ros/$ROS_DISTRO/setup.sh \
+ && cd /catkin_ws \
+ && catkin_make
+ 
+ 

build.sh

@@ -0,0 +1,3 @@
+#!/usr/bin/env bash
+
+docker build -t robotresearchrepos/kumarrobotics_msckf_vio:latest .