Support for Dev Containers and Codespaces (#3457)

* Alias image tag over current branch name

* Duplicate build and push steps for dev tag

* Alias image tag over current branch name

* Modify build and push steps for dev tag

* Build and push dev tag first
to not cache from stale stages
as otherwise caching from multple regestry images seems error prone

* Revert "Build and push dev tag first"
as otherwise the build failer durring the dev tag
could then still block build of the main tag

This reverts commit 12dd5b1.

* Cache from multple reference images
while giving layers from the main tag priority
this assumes that cache-from prioritizes firstly listed references

https://github.com/moby/buildkit/blob/0ad8d61575be009ce6478edf1d85716849c8ff1a/solver/llbsolver/bridge.go#L92

* Cache tests in dev image as well
colcon cache can then skip tests for uneffected packages

* Add devcontainer.json

* Ignore doc for image builds

* Add more extensions

* Change workspaceFolder to root src path
to avoid auto generating .vscode folder in repo
created by ms-iot.vscode-ros extension
upon configuring ros packages with c_cpp_properties.json

* Enable features
for github-cli

* Add docs about codespaces
and have it opened when starting codespaces

.devcontainer/devcontainer.json

@@ -0,0 +1,32 @@
+{
+    "name": "Nav2",
+    "image": "ghcr.io/ros-planning/navigation2:main-dev",
+    "runArgs": [
+        "--privileged",
+        "--network=host"
+    ],
+    "workspaceMount": "source=${localWorkspaceFolder},target=/opt/overlay_ws/src/navigation2,type=bind",
+    "workspaceFolder": "/opt/overlay_ws/src",
+    "features": {
+        // "ghcr.io/devcontainers/features/desktop-lite:1": {},
+        "ghcr.io/devcontainers/features/github-cli:1": {}
+    },
+    "customizations": {
+        "codespaces": {
+            "openFiles": [
+                "doc/development/codespaces.md"
+            ]
+        },
+        "vscode": {
+            "settings": {},
+            "extensions": [
+                "eamodio.gitlens",
+                "esbenp.prettier-vscode",
+                "GitHub.copilot",
+                "ms-iot.vscode-ros",
+                "streetsidesoftware.code-spell-checker",
+                "twxs.cmake"
+            ]
+        }
+    }
+}

.dockerignore

@@ -2,10 +2,11 @@
 # Repo
 
 .circleci/
-.github/
+.devcontainer/
+.dockerignore
 .git/
 .github/
-.dockerignore
 .gitignore
-**Dockerfile
 **.Dockerfile
+**Dockerfile
+doc/

.github/workflows/update_ci_image.yaml

@@ -36,7 +36,7 @@ jobs:
       trigger: ${{ steps.check.outputs.trigger }}
       no_cache: ${{ steps.check.outputs.no_cache }}
     container:
-      image: ghcr.io/ros-planning/navigation2:main
+      image: ghcr.io/ros-planning/navigation2:${{ github.ref_name }}
     steps:
       - name: "Check apt updates"
         id: check
@@ -91,20 +91,41 @@ jobs:
             trigger=true
           fi
           echo "::set-output name=trigger::${trigger}"
-      - name: Build and push
+      - name: Build and push ${{ github.ref_name }}
         if: steps.config.outputs.trigger == 'true'
         id: docker_build
         uses: docker/build-push-action@v4
         with:
           pull: true
           push: true
           no-cache: ${{ steps.config.outputs.no_cache }}
-          cache-from: type=registry,ref=ghcr.io/ros-planning/navigation2:main
+          cache-from: type=registry,ref=ghcr.io/ros-planning/navigation2:${{ github.ref_name }}
           cache-to: type=inline
           target: builder
           tags: |
-            ghcr.io/ros-planning/navigation2:main
-            ghcr.io/ros-planning/navigation2:main-${{ steps.config.outputs.timestamp }}
+            ghcr.io/ros-planning/navigation2:${{ github.ref_name }}
+            ghcr.io/ros-planning/navigation2:${{ github.ref_name }}-${{ steps.config.outputs.timestamp }}
+      - name: Image digest
+        if: steps.config.outputs.trigger == 'true'
+        run: echo ${{ steps.docker_build.outputs.digest }}
+      - name: Build and push ${{ github.ref_name }}-dev
+        if: steps.config.outputs.trigger == 'true'
+        id: docker_build
+        uses: docker/build-push-action@v4
+        with:
+          pull: true
+          push: true
+          cache-from: |
+            type=registry,ref=ghcr.io/ros-planning/navigation2:${{ github.ref_name }}
+            type=registry,ref=ghcr.io/ros-planning/navigation2:${{ github.ref_name }}-dev
+          cache-to: type=inline
+          build-args: |
+            RUN_TESTS=True
+            FAIL_ON_TEST_FAILURE=''
+          target: tester
+          tags: |
+            ghcr.io/ros-planning/navigation2:${{ github.ref_name }}-dev
+            ghcr.io/ros-planning/navigation2:${{ github.ref_name }}-dev-${{ steps.config.outputs.timestamp }}
       - name: Image digest
         if: steps.config.outputs.trigger == 'true'
         run: echo ${{ steps.docker_build.outputs.digest }}

doc/development/codespaces.md

@@ -0,0 +1,23 @@
+# Codespaces
+
+TODO: welcome and introduction
+
+# Overview
+
+TODO: document devcontainer
+TODO: reference extensions
+TODO: use of dockercompose and services
+
+# Terminal
+
+TODO: link to vscode terminal
+
+# Graphics and Simulations
+
+TODO: vnc options
+TODO: foxglove example
+TODO: gazebo example with gzweb
+
+# References
+
+TODO: links to more info