feat: integrate collision detection feature into robot model (#163) #39
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| name: Build and Push Multi-Arch Images | |
| on: | |
| push: | |
| branches: | |
| - develop | |
| - main | |
| tags: | |
| - "v*.*.*" | |
| jobs: | |
| get-tag: | |
| runs-on: ubuntu-latest | |
| name: Get tag | |
| outputs: | |
| tag: ${{ steps.parse-tag.outputs.tag }} | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - uses: aica-technology/.github/.github/actions/docker-tag-from-git@v0.6.1 | |
| id: parse-tag | |
| build: | |
| needs: [get-tag] | |
| strategy: | |
| matrix: | |
| arch: [amd64, arm64] | |
| include: | |
| - image: ubuntu-latest | |
| # FIXME: using 4vcpu image because of heavy RAM usage when building pinoccio on arm64 | |
| - image: buildjet-4vcpu-ubuntu-2204-arm | |
| arch: arm64 | |
| runs-on: ${{ matrix.image }} | |
| name: Build and publish (${{ matrix.arch }}) | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - uses: aica-technology/.github/.github/actions/list-add-suffixes@v0.6.1 | |
| id: merge-tags | |
| with: | |
| list: ${{ needs.get-tag.outputs.tag }} | |
| suffixes: ${{ matrix.arch }} | |
| glue_separator: "-" | |
| - uses: aica-technology/.github/.github/actions/ghcr-build@v0.6.1 | |
| with: | |
| image_name: aica-technology/control-libraries | |
| image_tags: ${{ steps.merge-tags.outputs.list }} | |
| dockerfile_path: Dockerfile | |
| token: ${{ secrets.GITHUB_TOKEN }} | |
| multi-arch: | |
| runs-on: ubuntu-latest | |
| name: Merge into a multi-arch image | |
| needs: [get-tag, build] | |
| steps: | |
| - uses: aica-technology/.github/.github/actions/ghcr-manifest-merge@v0.6.1 | |
| with: | |
| image_name: aica-technology/control-libraries | |
| image_tags: ${{ needs.get-tag.outputs.tag }} | |
| archs: amd64,arm64 | |
| token: ${{ secrets.GITHUB_TOKEN }} |