From 16a6ff23376f98053f7b969b4e995c6922ba8d7a Mon Sep 17 00:00:00 2001
From: Fernando Cladera <fcladera@fcladera.com>
Date: Wed, 24 Jan 2024 23:43:18 -0500
Subject: [PATCH] Github action for Docker build

---
 .github/workflows/docker-build.yaml | 35 +++++++++++++++++++++++++++++
 Dockerfile                          | 26 +++++++++++++++++++++
 2 files changed, 61 insertions(+)
 create mode 100644 .github/workflows/docker-build.yaml
 create mode 100644 Dockerfile

diff --git a/.github/workflows/docker-build.yaml b/.github/workflows/docker-build.yaml
new file mode 100644
index 0000000..5bba3fe
--- /dev/null
+++ b/.github/workflows/docker-build.yaml
@@ -0,0 +1,35 @@
+name: docker-build-base
+
+# Only build base when any of the files in the base directory are modified
+on:
+  push:
+    branches: [master, ci]
+    tags:
+      - '*'
+  workflow_dispatch:
+  schedule:
+    - cron: '0 0 * * 0'
+
+jobs:
+  main:
+    runs-on: ubuntu-20.04
+
+    steps:
+      -
+        name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+      -
+        name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+      -
+        name: Build and push
+        id: docker_build
+        uses: docker/build-push-action@v5
+        with:
+          context: "{{defaultContext}}"
+          push: false
+          platforms: linux/amd64
+          build-args: git_hash=${{ github.sha }}
+      -
+        name: Image digest
+        run: echo ${{ steps.docker_build.outputs.digest }}
diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 0000000..b6c4020
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,26 @@
+# Note: this Dockerfile is only used for the CI. Please refer to the
+# instructions in README.md to use this repo
+
+FROM kumarrobotics/jackal-master:latest
+
+# Requires a docker build argument `user_id`
+ARG user_id=1000
+env USER dcist
+ARG git_hash
+
+# Create a base docker environment
+RUN . ~/jackal_ws/devel/setup.sh \
+ && mkdir -p ~/user_ws/src && cd ~/user_ws \
+ && catkin config --extend ~/jackal_ws/devel \
+ && catkin build --no-status -DCMAKE_BUILD_TYPE=Release
+
+# Clone the git directory
+RUN cd ~/user_ws/src \
+ && git clone --recursive -j4 https://github.com/KumarRobotics/spomp-system.git \
+ && cd spomp-system \
+ && git checkout ${git_hash}
+
+# Build the workspace
+RUN cd ~/user_ws \
+ && catkin build --no-status -DCMAKE_BUILD_TYPE=Release \
+ && catkin build