Added support for arm systems (Apple Silicon)

.github/workflows/docker-build.yaml

@@ -5,18 +5,39 @@ 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
+        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:
+          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 --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 \
+            --push \
+            --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/[email protected]

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

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