feat(ci): enable Docker build cache to 5 times faster container build (#4730)

* introduce src-imported stage

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

* empty

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

* generate install package lists

* append || true

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

* cat packages

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

* chore(docker): separate `rosdep install` and `colcon build` RUN commands (#4719)

* wip

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

* wip

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

* Update Dockerfile

* Update Dockerfile

* install pacmod

* rename

* Revert "install pacmod"

This reverts commit ebff10f.

* install pacmod3

* register pamod3 repos

* ignore hadolint

* revert

* run set-dev-env.sh

* pip install

* copy

* rosdep update

* vcs import outside dockerfile

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

* enable docker build cache

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

* empty

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

* add no-cuda/cuda suffix

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

* remove --download-artifacts

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

* remove --download-artifacts

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

* add --data-path option

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

* wip

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

* run download_artifacts

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

* remove todo

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

* revert run

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

---------

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

Author: youtalk

.github/workflows/build-main-self-hosted.yaml

@@ -57,6 +57,8 @@ jobs:
             *.args.BASE_IMAGE=${{ needs.load-env.outputs[format('{0}', matrix.base_image_env)] }}
             *.args.SETUP_ARGS=${{ matrix.setup-args }}
             *.args.LIB_DIR=${{ matrix.lib_dir }}
+            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}
+            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }},mode=max
           tag-suffix: ${{ matrix.additional-tag-suffix }}-arm64
           tag-prefix: ${{ needs.load-env.outputs.rosdistro }}
           allow-push: false

.github/workflows/build-main.yaml

@@ -52,6 +52,8 @@ jobs:
             *.args.BASE_IMAGE=${{ needs.load-env.outputs[format('{0}', matrix.base_image_env)] }}
             *.args.SETUP_ARGS=${{ matrix.setup-args }}
             *.args.LIB_DIR=${{ matrix.lib_dir }}
+            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}
+            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }},mode=max
           tag-suffix: ${{ matrix.additional-tag-suffix }}-amd64
           tag-prefix: ${{ needs.load-env.outputs.rosdistro }}
           allow-push: false

.github/workflows/docker-build-and-push-main-self-hosted.yaml

@@ -85,6 +85,8 @@ jobs:
             *.args.BASE_IMAGE=${{ needs.load-env.outputs[format('{0}', matrix.base_image_env)] }}
             *.args.SETUP_ARGS=${{ matrix.setup-args }}
             *.args.LIB_DIR=${{ matrix.lib_dir }}
+            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}
+            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }},mode=max
           tag-suffix: ${{ matrix.additional-tag-suffix }}-arm64
           tag-prefix: ${{ needs.load-env.outputs.rosdistro }}
           allow-push: true

.github/workflows/docker-build-and-push-main.yaml

@@ -80,6 +80,8 @@ jobs:
             *.args.BASE_IMAGE=${{ needs.load-env.outputs[format('{0}', matrix.base_image_env)] }}
             *.args.SETUP_ARGS=${{ matrix.setup-args }}
             *.args.LIB_DIR=${{ matrix.lib_dir }}
+            *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }}
+            *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}:buildcache-${{ matrix.name }},mode=max
           tag-suffix: ${{ matrix.additional-tag-suffix }}-amd64
           tag-prefix: ${{ needs.load-env.outputs.rosdistro }}
           allow-push: true