Add navigation docker build workflow

.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 +53,11 @@ jobs:
             dev:
               - docker/dev/**
 
+            navigation:
+              - .github/workflows/_docker-build-template.yml
+              - .github/workflows/docker.yml
+              - docker/navigation/**
+
             tests:
               - dimos/**
 
@@ -130,6 +136,57 @@ 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'
+    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: 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
+          token: ${{ secrets.NAV_REPO_READ_TOKEN }}
+
+      - 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]
     if: always()