motion_planning.yaml

name: motion_planning

on:
  push:
    branches: ['franka_emika_panda']
    paths:
      - .gitmodules
      - src/**
      - .docker/motion_planning/Dockerfile.motion_planning
      - .github/workflows/motion_planning.yaml
  workflow_dispatch:

env:
  REGISTRY: ghcr.io
  ORG_NAME: peterdavidfagan
  IMAGE_NAME: panda_motion_planning

jobs:
  build-and-push-image:
    runs-on: ubuntu-latest
    permissions:
      contents: read
      packages: write

    steps:
      - name: Checkout repository
        uses: actions/checkout@v3
        with:
          submodules: recursive
          token: ${{ secrets.ORG_PAT }}
 
      - name: Free Space
        run: |
          sudo rm -rf /opt/ghc
          sudo rm -rf /opt/hostedtoolcache
          sudo rm -rf /usr/share/dotnet
          sudo rm -rf "$AGENT_TOOLSDIRECTORY"
          sudo rm -rf ${GITHUB_WORKSPACE}/.git
          
      - name: Set up QEMU
        uses: docker/setup-qemu-action@v2
      
      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v2

      - name: Log in to the Container registry
        uses: docker/login-action@f054a8b539a109f9f41c372932f1ae047eff08c9
        with:
          registry: ${{ env.REGISTRY }}
          username: ${{ github.actor }}
          password: ${{ secrets.GITHUB_TOKEN }}

      - name: Build and push Docker image
        uses: docker/build-push-action@v3
        with:
          context: .
          platforms: linux/amd64
          file: .docker/motion_planning/Dockerfile.motion_planning
          push: true
          no-cache: true
          tags: ${{ env.REGISTRY }}/${{ env.ORG_NAME }}/${{ env.IMAGE_NAME }}:humble