build_images.yaml

---
name: Build and Release Docker Image

on:
  schedule:
    # 7am UTC, 12am PST
    - cron:  '0 7 * * *'
  push:
    # For developer updates to trigger
    branches:
      - main

jobs:
  nightly_docker:
    name: Build and Release Nightly Docker Images From Current Source
    runs-on: ubuntu-latest

    strategy:
      fail-fast: false
      matrix:
        ros_distro: [humble, jazzy, rolling] 

    steps:
      - name: Set up QEMU
        uses: docker/setup-qemu-action@v3
      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v3
      - name: Login to GitHub Container Registry
        uses: docker/login-action@v3
        with:
          registry: ghcr.io
          username: ${{ github.actor }}
          password: ${{ secrets.GITHUB_TOKEN }}
      - name: Build and push
        uses: docker/build-push-action@v6
        with:
          push: true
          pull: true
          tags: ghcr.io/${{ github.repository }}:${{ matrix.ros_distro }}-nightly
          platforms: linux/amd64,linux/arm64
          build-args: |
            ROS_DISTRO=${{ matrix.ros_distro }}
            BUILD=true

  release_docker:
    name: Build and Release Current Nav2 Relased Version of Docker Images
    runs-on: ubuntu-latest

    strategy:
      fail-fast: false
      matrix:
        version:
          - { ros_distro: 'humble', main_version: '1', distro_version: '1' }
          - { ros_distro: 'iron', main_version: '1', distro_version: '2' }
          - { ros_distro: 'jazzy', main_version: '1', distro_version: '3' }

    steps:
      - name: Set up QEMU
        uses: docker/setup-qemu-action@v3
      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v3
      - name: Login to GitHub Container Registry
        uses: docker/login-action@v3
        with:
          registry: ghcr.io
          username: ${{ github.actor }}
          password: ${{ secrets.GITHUB_TOKEN }}
      - name: Get Latest Tag to Build
        id: get_tag
        run: |
          # Fetch tags from the repository
          tags=$(curl -s -H "Authorization: token ${{ secrets.GITHUB_TOKEN }}" \
            https://api.github.com/repos/ros-navigation/navigation2/tags | \
            jq -r '.[].name')

          # Get the filtered set from the release
          filtered_tags=$(echo "$tags" | grep '^${{ matrix.version.main_version }}\.${{ matrix.version.distro_version }}\.[0-9]*$')

          # Find the highest tag
          highest_tag=$(echo "$filtered_tags" | sort -V | tail -n 1)

          # Output the highest tag
          echo "Highest tag: $highest_tag"
          echo "highest_tag=$highest_tag" >> $GITHUB_OUTPUT
      - name: Get Latest Package Version Already Built
        id: latest_released_package
        run: |
          page=1
          per_page=100
          all_tags=""
          while true; do
            echo "Fetching page $page"
            response=$(curl -s -H "Accept: application/vnd.github+json" \
              -H "Authorization: Bearer ${{ secrets.GITHUB_TOKEN }}" \
              "https://api.github.com/orgs/ros-navigation/packages/container/nav2_docker/versions?per_page=$per_page&page=$page")

            # echo "Response from API (Page $page):"
            # echo "$response"

            # Check if the response is empty
            if [ "$(echo "$response" | jq length)" -eq 0 ]; then
              echo "No more versions found, stopping pagination."
              break
            fi

            # Extract tags from the response
            ros_distro="${{ matrix.version.ros_distro }}"
            main_version="${{ matrix.version.main_version }}"
            distro_version="${{ matrix.version.distro_version }}"

            echo "ROS_DISTRO: $ros_distro"
            echo "MAIN_VERSION: $main_version"
            echo "DISTRO_VERSION: $distro_version"

            extracted_tags=$(echo "$response" | jq -r '.[] | .metadata.container.tags[]')
            echo "Extracted tags: $extracted_tags"

            matching_tags=$(echo "$extracted_tags" | grep -E "^${ros_distro}-${main_version}\.${distro_version}\." || true)
            echo "Matching Tags: $matching_tags"

            # Break if the response is empty (no more pages)
            # if [ -z "$extracted_tags" ]; then
            #   echo "No more tags found, breaking loop."
            #   break
            # fi

            all_tags="$all_tags"$'\n'"$matching_tags"
            echo "All tags found: $all_tags"

            page=$((page + 1))
            echo "new page: $page"
          done

          echo "All collected tags:"
          echo "$all_tags"

          # Sort and find the latest version
          latest_version=$(echo "$all_tags" | sort -V | tail -n 1)

          # Check if we successfully found the latest version
          if [ -z "$latest_version" ]; then
            echo "Error: No matching package versions found."
            exit 1
          fi

          echo "Latest version found: $latest_version"
          stripped_version=$(echo "$latest_version" | cut -d '-' -f 2-)
          echo "Latest version found: $stripped_version"
          echo "version=$stripped_version" >> $GITHUB_OUTPUT

      - name: Build and Push if New
        if: steps.latest_released_package.outputs.version != steps.get_tag.outputs.highest_tag
        uses: docker/build-push-action@v6
        with:
          push: true
          pull: true
          tags: ghcr.io/${{ github.repository }}:${{ matrix.version.ros_distro }}-${{ steps.get_tag.outputs.highest_tag }}
          platforms: linux/amd64,linux/arm64
          build-args: |
            ROS_DISTRO=${{ matrix.version.ros_distro }}
            BUILD=true
            VERSION=${{ steps.get_tag.outputs.highest_tag }}