From 571be42d8d7f8ce3fb3afc6ba6757f5d930aa4d8 Mon Sep 17 00:00:00 2001
From: 0xc60f <0xc60f@duck.com>
Date: Sun, 5 Oct 2025 15:14:24 -0700
Subject: [PATCH 1/3] Added support for arm systems (Apple Silicon)

---
 .github/workflows/docker-build.yaml | 2 +-
 Dockerfile                          | 8 +++++++-
 docker-compose.yml                  | 3 +++
 3 files changed, 11 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/docker-build.yaml b/.github/workflows/docker-build.yaml
index 4647099..ec45f5f 100644
--- a/.github/workflows/docker-build.yaml
+++ b/.github/workflows/docker-build.yaml
@@ -12,7 +12,7 @@ jobs:
           docker compose build --no-cache
       - name: start and exec into container
         run: | # ensure a clean build tree inside container, then build
-          docker compose run --rm -T rover bash -lc 'rm -rf build install log && colcon build --symlink-install --packages-up-to arm_control'
+          docker compose run --platform linux/amd64 --rm -T rover bash -lc 'rm -rf build install log && colcon build --symlink-install --packages-up-to arm_control'
       - name: Cleanup
         if: always()
         run: |
diff --git a/Dockerfile b/Dockerfile
index 9fe47d6..aaef99d 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -3,7 +3,13 @@
 # if you have anymore questions ask Aaron
 
 # official base image in docs
-FROM osrf/ros:humble-desktop
+FROM --platform=$TARGETPLATFORM osrf/ros:humble-desktop
+
+ARG TARGETPLATFORM
+ARG BUILDPLATFORM
+
+# Debugging info (optional)
+RUN echo "Building for $TARGETPLATFORM on $BUILDPLATFORM"
 
 # consistency with setup files
 ENV DEBIAN_FRONTEND=noninteractive
diff --git a/docker-compose.yml b/docker-compose.yml
index f3029ff..2813e24 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -17,6 +17,9 @@ services:
     build:
       context: .
       dockerfile: Dockerfile
+      platforms:
+        - linux/amd64
+        - linux/arm64
     image: roverflake2:dev
     container_name: rover_dev
     working_dir: /RoverFlake2

From 0eb9c65de114b3783eb4d93a2ca32671dda52b99 Mon Sep 17 00:00:00 2001
From: 0xc60f <0xc60f@duck.com>
Date: Sun, 26 Oct 2025 16:52:31 -0700
Subject: [PATCH 2/3] Changed to buildx again

---
 .github/workflows/docker-build.yaml | 26 ++++++++++++++++++--------
 docker-compose.yml                  |  6 +++---
 2 files changed, 21 insertions(+), 11 deletions(-)

diff --git a/.github/workflows/docker-build.yaml b/.github/workflows/docker-build.yaml
index ec45f5f..5289380 100644
--- a/.github/workflows/docker-build.yaml
+++ b/.github/workflows/docker-build.yaml
@@ -5,18 +5,28 @@ jobs:
     runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v4
-        with: # added this, might fix a bug that's taken over 3 hours to find
+        with:
           submodules: recursive
-      - name: build
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v2
+        with:
+          driver: docker-container
+          install: true
+
+      - name: Build multi-arch image
         run: |
-          docker compose build --no-cache
-      - name: start and exec into container
-        run: | # ensure a clean build tree inside container, then build
-          docker compose run --platform linux/amd64 --rm -T rover bash -lc 'rm -rf build install log && colcon build --symlink-install --packages-up-to arm_control'
+          docker buildx build \
+            --platform linux/amd64,linux/arm64 \
+            --tag roverflake2:dev \
+            --file Dockerfile \
+            --load .
+      - name: Start and exec into container
+        run: |
+          docker compose run --rm -T rover bash -lc \
+            'rm -rf build install log && colcon build --symlink-install --packages-up-to arm_control'
       - name: Cleanup
         if: always()
-        run: |
-          docker compose down --remove-orphans || true
+        run: docker compose down --remove-orphans || true
       - name: Notify Discord (success)
         if: ${{ success() }}
         uses: appleboy/discord-action@v1.0.0
diff --git a/docker-compose.yml b/docker-compose.yml
index 2813e24..53460b4 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -17,9 +17,9 @@ services:
     build:
       context: .
       dockerfile: Dockerfile
-      platforms:
-        - linux/amd64
-        - linux/arm64
+      #platforms:
+        #- linux/amd64
+        #- linux/arm64
     image: roverflake2:dev
     container_name: rover_dev
     working_dir: /RoverFlake2

From 469be925f30d6e00208114d68910ccb2ece1a1b8 Mon Sep 17 00:00:00 2001
From: 0xc60f <0xc60f@duck.com>
Date: Sun, 26 Oct 2025 16:59:07 -0700
Subject: [PATCH 3/3] Added containered snapshots

---
 .github/workflows/docker-build.yaml | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/.github/workflows/docker-build.yaml b/.github/workflows/docker-build.yaml
index 5289380..9142af9 100644
--- a/.github/workflows/docker-build.yaml
+++ b/.github/workflows/docker-build.yaml
@@ -7,6 +7,16 @@ jobs:
       - uses: actions/checkout@v4
         with:
           submodules: recursive
+      - name: Set up Docker
+        uses: docker/setup-docker-action@v4
+        with:
+          daemon-config: |
+            {
+              "debug": true,
+              "features": {
+                "containerd-snapshotter": true
+              }
+            }
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v2
         with:
@@ -19,6 +29,7 @@ jobs:
             --platform linux/amd64,linux/arm64 \
             --tag roverflake2:dev \
             --file Dockerfile \
+            --push \
             --load .
       - name: Start and exec into container
         run: |