feat : Add docker CI

Author: niuoruo

.github/workflows/docker-CI.yaml

@@ -0,0 +1,30 @@
+name: Docker-CI
+
+on:
+  push:
+    branches:
+      - main
+  workflow_run:
+    workflows: ["Build-CI"]
+    types:
+      - completed
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+
+    steps:
+    - name: Log in to GitHub Container Registry
+      uses: docker/login-action@v2
+      with:
+        registry: ghcr.io
+        username: ${{ github.actor }}
+        password: ${{ secrets.GITHUB_TOKEN }}
+
+    - name: Build Docker image
+      run: |
+        docker build -t ghcr.io/irobot-algorithm/sentry_navigation:latest .
+
+    - name: Push Docker image
+      run: |
+        docker push ghcr.io/irobot-algorithm/sentry_navigation:latest

Dockerfile

@@ -1,4 +1,5 @@
 FROM ghcr.io/irobot-algorithm/sentry_navigation/environment:latest
+LABEL org.opencontainers.image.source=https://github.com/IRobot-Algorithm/sentry_navigation
 
 # Create workspace
 RUN mkdir -p /home/nav_ws
@@ -9,35 +10,6 @@ ADD src /home/nav_ws/src
 ADD thirdparty /home/nav_ws/thirdparty
 ADD build.sh /home/nav_ws
 
-# Install dependencies
-RUN apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
-RUN echo "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" > /etc/apt/sources.list.d/realsense.list
-RUN apt-get update && \
-    DEBIAN_FRONTEND=noninteractive apt-get install -y build-essential cmake libeigen3-dev libpcl-dev libgoogle-glog-dev libudev-dev git libxrandr-dev libxi-dev libxinerama-dev libsdl2-dev libusb-1.0.0-dev && \
-    cp -rf /usr/include/eigen3/Eigen /usr/include/Eigen -R
-
-# Install thirdparty dependencies
-RUN for file in /home/nav_ws/thirdparty/*; do \
-    if [ -f "$file" ]; then \
-        case "$file" in \
-            *.tar.gz) tar -xzf "$file" -C /home/nav_ws/thirdparty ;; \
-            *.zip) unzip "$file" -d /home/nav_ws/thirdparty ;; \
-            *.tar.bz2) tar -xjf "$file" -C /home/nav_ws/thirdparty ;; \
-            *.tar.xz) tar -xJf "$file" -C /home/nav_ws/thirdparty ;; \
-        esac; \
-        rm "$file"; \
-    fi; \
-done
-RUN find /home/nav_ws/thirdparty -name "install.sh" -type f -exec bash -c 'cd "$(dirname "{}")" && chmod 777 install.sh && ./install.sh' \;
-
-# # Install ROS dependencies
-RUN apt-get install -y ros-noetic-rviz ros-noetic-cv-bridge ros-noetic-pcl-ros \
-                       ros-noetic-tf-conversions ros-noetic-eigen-conversions \
-                       ros-noetic-ddynamic-reconfigure ros-noetic-diagnostic-updater \
-                       ros-noetic-image-geometry ros-noetic-costmap-2d \
-                       ros-noetic-nav-core ros-noetic-navfn
-
-
 # Build the workspace
 RUN chmod 777 build.sh && \
     ./build.sh