carma-platform is not using dynamic dependency in its CI (#2381)

.github/workflows/Ci.yml

@@ -6,7 +6,18 @@ on:
  push:
  branches: [develop, master]
 jobs:
+ determine_docker_org_and_tag:
+ runs-on: ubuntu-latest
+ steps:
+ - name: Determine Docker organization and tag
+ id: docker-org-and-tag
+ uses: usdot-fhwa-stol/actions/docker-org-and-tag@main
+ outputs:
+ docker_org: ${{ steps.docker-org-and-tag.outputs.docker_organization }}
+ docker_tag: ${{ steps.docker-org-and-tag.outputs.docker_image_tag }}
+
  build:
+ needs: determine_docker_org_and_tag
  defaults:
  run:
  shell: bash
@@ -17,14 +28,24 @@ jobs:
 
  # Set up a Docker container for the job
  container:
- image: usdotfhwastoldev/autoware.ai:develop
+ image: ${{ needs.determine_docker_org_and_tag.outputs.docker_org }}/autoware.ai:${{ needs.determine_docker_org_and_tag.outputs.docker_tag }}
  env:
  INIT_ENV: "/home/carma/.base-image/init-env.sh"
  ROS_2_ENV: "/opt/ros/foxy/setup.bash"
  TERM: xterm
  options: "--user root"
 
  steps:
+
+ - name: Determine base branch
+ id: determine-base-branch
+ run: |
+ if [[ "$GITHUB_EVENT_NAME" == "pull_request" ]]; then
+ echo git_branch="$GITHUB_BASE_REF" >> $GITHUB_OUTPUT
+ else
+ echo git_branch="$GITHUB_REF_NAME" >> $GITHUB_OUTPUT
+ fi
+
  - name: Checkout ${{ github.event.repository.name }}
  # Check out the repository code
  uses: actions/checkout@v3.3.0
@@ -40,7 +61,7 @@ jobs:
  # Checkout project dependencies
  run: |
  source "$INIT_ENV"
- ./src/${{ github.event.repository.name }}/docker/checkout.bash -r /opt/carma/
+ ./src/${{ github.event.repository.name }}/docker/checkout.bash -r /opt/carma/ -b ${{ steps.determine-base-branch.outputs.git_branch }}
 
  - name: Install external dependencies
  # Install the multiple object tracking deps