From b20bcbaa4269e0e60d5b339dbfaf79a38bd3c8ec Mon Sep 17 00:00:00 2001 From: stash Date: Fri, 13 Feb 2026 22:59:31 -0800 Subject: [PATCH 1/5] Added nav docker workflow --- .github/workflows/docker.yml | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml index 5dc19917e5..fc358eba76 100644 --- a/.github/workflows/docker.yml +++ b/.github/workflows/docker.yml @@ -22,6 +22,7 @@ jobs: ros: ${{ steps.filter.outputs.ros }} python: ${{ steps.filter.outputs.python }} dev: ${{ steps.filter.outputs.dev }} + navigation: ${{ steps.filter.outputs.navigation }} tests: ${{ steps.filter.outputs.tests }} branch-tag: ${{ steps.set-tag.outputs.branch_tag }} steps: @@ -52,6 +53,9 @@ jobs: dev: - docker/dev/** + navigation: + - docker/navigation/** + tests: - dimos/** @@ -130,6 +134,16 @@ jobs: to-image: ghcr.io/dimensionalos/dev:${{ needs.check-changes.outputs.branch-tag }} dockerfile: dev + navigation: + needs: [check-changes] + if: needs.check-changes.outputs.navigation == 'true' + uses: ./.github/workflows/_docker-build-template.yml + with: + should-run: true + from-image: osrf/ros:humble-desktop-full + to-image: ghcr.io/dimensionalos/navigation:${{ needs.check-changes.outputs.branch-tag }} + dockerfile: navigation + ros-dev: needs: [check-changes, ros-python] if: always() From abf9ddb6b610616565476c16b6381731598313e8 Mon Sep 17 00:00:00 2001 From: stash Date: Sat, 14 Feb 2026 20:46:38 -0800 Subject: [PATCH 2/5] Added check changes --- .github/workflows/docker.yml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml index fc358eba76..4f294b0f21 100644 --- a/.github/workflows/docker.yml +++ b/.github/workflows/docker.yml @@ -54,6 +54,8 @@ jobs: - docker/dev/** navigation: + - .github/workflows/_docker-build-template.yml + - .github/workflows/docker.yml - docker/navigation/** tests: From 6bd6be38313cb73215078ff177a3586cb573ffc6 Mon Sep 17 00:00:00 2001 From: stash Date: Sat, 14 Feb 2026 21:03:46 -0800 Subject: [PATCH 3/5] Clone nav stack for CI build --- .github/workflows/docker.yml | 48 +++++++++++++++++++++++++++++++----- 1 file changed, 42 insertions(+), 6 deletions(-) diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml index 4f294b0f21..11ffa6276d 100644 --- a/.github/workflows/docker.yml +++ b/.github/workflows/docker.yml @@ -139,12 +139,48 @@ jobs: navigation: needs: [check-changes] if: needs.check-changes.outputs.navigation == 'true' - uses: ./.github/workflows/_docker-build-template.yml - with: - should-run: true - from-image: osrf/ros:humble-desktop-full - to-image: ghcr.io/dimensionalos/navigation:${{ needs.check-changes.outputs.branch-tag }} - dockerfile: navigation + runs-on: [self-hosted, Linux] + permissions: + contents: read + packages: write + steps: + - name: Fix permissions + run: | + sudo chown -R $USER:$USER ${{ github.workspace }} || true + + - uses: actions/checkout@v4 + with: + fetch-depth: 0 + + - name: Clone ros-navigation-autonomy-stack + run: | + git clone -b fastlio2 https://github.com/dimensionalOS/ros-navigation-autonomy-stack.git \ + docker/navigation/ros-navigation-autonomy-stack + + - uses: docker/login-action@v3 + with: + registry: ghcr.io + username: ${{ github.actor }} + password: ${{ secrets.GITHUB_TOKEN }} + + - uses: crazy-max/ghaction-github-runtime@v3 + + - uses: docker/setup-buildx-action@v3 + with: + driver: docker-container + install: true + use: true + + - uses: docker/build-push-action@v6 + with: + push: true + context: . + file: docker/navigation/Dockerfile + tags: ghcr.io/dimensionalos/navigation:${{ needs.check-changes.outputs.branch-tag }} + cache-from: type=gha,scope=navigation + cache-to: type=gha,mode=max,scope=navigation + build-args: | + ROS_DISTRO=humble ros-dev: needs: [check-changes, ros-python] From 0833db50859038abe08e5edf820ce919ed64ac54 Mon Sep 17 00:00:00 2001 From: stash Date: Sat, 14 Feb 2026 22:24:42 -0800 Subject: [PATCH 4/5] Use checkout for nav repo --- .github/workflows/docker.yml | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml index 11ffa6276d..c2457585bb 100644 --- a/.github/workflows/docker.yml +++ b/.github/workflows/docker.yml @@ -152,10 +152,14 @@ jobs: with: fetch-depth: 0 - - name: Clone ros-navigation-autonomy-stack - run: | - git clone -b fastlio2 https://github.com/dimensionalOS/ros-navigation-autonomy-stack.git \ - docker/navigation/ros-navigation-autonomy-stack + - name: Checkout ros-navigation-autonomy-stack + uses: actions/checkout@v4 + with: + repository: dimensionalOS/ros-navigation-autonomy-stack + ref: fastlio2 + path: docker/navigation/ros-navigation-autonomy-stack + fetch-depth: 1 + lfs: false - uses: docker/login-action@v3 with: From b1142d632a7b2dbfd6fa0c59c815ffe7e8a2d565 Mon Sep 17 00:00:00 2001 From: stash Date: Sun, 15 Feb 2026 04:22:09 -0800 Subject: [PATCH 5/5] Use nav repo read token for checkout --- .github/workflows/docker.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml index c2457585bb..3ab6ff4075 100644 --- a/.github/workflows/docker.yml +++ b/.github/workflows/docker.yml @@ -160,6 +160,7 @@ jobs: path: docker/navigation/ros-navigation-autonomy-stack fetch-depth: 1 lfs: false + token: ${{ secrets.NAV_REPO_READ_TOKEN }} - uses: docker/login-action@v3 with: