chore: Github workflow for deploying docker images

.github/workflows/deploy_docker.yaml

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+on:
+  push:
+    branches:
+      - "main"
+      - "humble"
+jobs:
+  deploy-main-image:
+    name: Build and deploy main docker image
+    runs-on: ubuntu-latest
+    env:
+      PLATFORM: linux/amd64
+      MAIN_IMAGE: ghcr.io/${{ github.repository_owner }}/firo_robot
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: Extract branch name
+        run: echo "BRANCH=$(git rev-parse --abbrev-ref HEAD)" >>${GITHUB_ENV}
+
+      - name: Setup Node.js
+        uses: actions/setup-node@v4
+        with:
+          node-version: 20
+
+      - name: Install dependencies
+        run: npm install -D semantic-release @semantic-release/exec conventional-changelog-conventionalcommits
+
+      - name: Tag version
+        id: semantic-release
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: npx semantic-release -t "${{env.BRANCH}}-\${version}"
+
+      # github.repository_owner can contain uppercase chars,
+      # but docker repository address must be all lowercase
+      - name: lowercase image name
+        if: ${{ steps.semantic-release.outputs.next_version || false }}
+        run: |
+          echo "MAIN_IMAGE=${MAIN_IMAGE,,}" >>${GITHUB_ENV}
+
+      - name: Set up QEMU
+        if: ${{ steps.semantic-release.outputs.next_version || false }}
+        uses: docker/setup-qemu-action@v3
+
+      - name: Set up Docker Buildx
+        if: ${{ steps.semantic-release.outputs.next_version || false }}
+        uses: docker/setup-buildx-action@v3
+
+      - name: Login to GitHub Container Registry
+        if: ${{ steps.semantic-release.outputs.next_version || false }}
+        uses: docker/login-action@v3
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Build and Push image
+        if: ${{ steps.semantic-release.outputs.next_version || false }}
+        uses: docker/build-push-action@v6
+        with:
+          file: Dockerfile
+          push: true
+          provenance: false # Remove in the future. Currently ghcr does not parse it correctly
+          tags: |
+            ${{ env.MAIN_IMAGE }}:${{env.BRANCH}}-${{steps.semantic-release.outputs.next_version}}
+            ${{ env.MAIN_IMAGE }}:${{env.BRANCH}}
+          platforms: ${{ env.PLATFORM }}
+          cache-from: ${{ env.MAIN_IMAGE }}:${{env.BRANCH}}
+          build-args: BUILDKIT_INLINE_CACHE=1

.releaserc

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+{
+        "branches": [
+                "main",
+                "humble"
+        ],
+        "plugins": [
+                [
+                        "@semantic-release/exec",
+                        {
+                                "verifyReleaseCmd": "echo \"next_version=${nextRelease.version}\" >> $GITHUB_OUTPUT"
+                        }
+                ],
+                [
+                        "@semantic-release/commit-analyzer",
+                        {
+                                "preset": "conventionalcommits"
+                        }
+                ]
+        ]
+}

Dockerfile

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+# First Stage: Build the project with build dependencies
+FROM ros:humble-ros-base AS build
+
+SHELL ["/bin/bash", "-c"]
+
+WORKDIR /ros2
+COPY . ./src
+COPY --from=ghcr.io/rxsio/firo_common:humble /ros2/install /ros2/install
+
+RUN apt-get update \
+        && rosdep update \
+        && source /opt/ros/$ROS_DISTRO/setup.bash \
+        && rosdep install --from-paths src --ignore-src -iy -tbuild -tbuildtool -tbuild_export -tbuildtool_export \
+        && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release \
+        && rm -rf /var/lib/apt/lists/*
+
+# Second Stage: Create a clean image with only exec dependencies and build results
+FROM ros:humble-ros-core
+
+SHELL ["/bin/bash", "-c"]
+
+WORKDIR /ros2
+COPY --from=build /ros2/install /ros2/install
+
+RUN apt-get update \
+        && apt-get install -y python3-rosdep \
+        && rosdep init \
+        && rosdep update \
+        && source /opt/ros/$ROS_DISTRO/setup.bash \
+        && rosdep install --from-paths install/**/share --ignore-src -iy --dependency-types=exec \
+        && apt-get purge -y python3-rosdep \
+        && SUDO_FORCE_REMOVE=yes apt-get autoremove --purge -y \
+        && rm -rf /var/lib/apt/lists/* \
+        && echo "source $PWD/install/setup.bash" >> ~/.bashrc
+
+# Set the default entrypoint
+CMD ["/bin/bash"]