CI set up

.github/include/base_image_config.json

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+{ "include":
+[
+    {
+        "tag": "humble-ubuntu22.04",
+        "external_image": "ubuntu:22.04",
+        "injections": {
+            "ros2": "humble"
+        }
+    },
+    {
+        "tag": "foxy-ubuntu20.04",
+        "external_image": "ubuntu:20.04",
+        "injections": {
+            "ros2": "foxy"
+        }
+    },
+
+
+
+
+
+    {
+        "tag": "cuda11.0-foxy-ubuntu20.04",
+        "external_image": "nvcr.io/nvidia/cuda:11.0.3-runtime-ubuntu20.04",
+        "injections": {
+            "ros2": "foxy"
+        }
+    },
+    {
+        "tag": "cuda11.2-foxy-ubuntu20.04",
+        "external_image": "nvcr.io/nvidia/cuda:11.2.2-runtime-ubuntu20.04",
+        "injections": {
+            "ros2": "foxy"
+        }
+    },
+    {
+        "tag": "cuda11.4-foxy-ubuntu20.04",
+        "external_image": "nvcr.io/nvidia/cuda:11.4.3-runtime-ubuntu20.04",
+        "injections": {
+            "ros2": "foxy"
+        }
+    },
+    {
+        "tag": "cuda11.7-humble-ubuntu22.04",
+        "external_image": "nvcr.io/nvidia/cuda:11.7.1-runtime-ubuntu22.04",
+        "injections": {
+            "ros2": "humble"
+        }
+    },
+    {
+        "tag": "cuda11.8-humble-ubuntu22.04",
+        "external_image": "nvcr.io/nvidia/cuda:11.8.0-runtime-ubuntu22.04",
+        "injections": {
+            "ros2": "humble"
+        }
+    },
+    {
+        "tag": "cuda12.0-humble-ubuntu22.04",
+        "external_image": "nvcr.io/nvidia/cuda:12.0.0-runtime-ubuntu22.04",
+        "injections": {
+            "ros2": "humble"
+        }
+    },
+    {
+        "tag": "cuda12.2-humble-ubuntu22.04",
+        "external_image": "nvcr.io/nvidia/cuda:12.2.2-runtime-ubuntu22.04",
+        "injections": {
+            "ros2": "humble"
+        }
+    },
+
+
+    {
+        "tag": "cuda11.0-foxy-ubuntu20.04-devel",
+        "external_image": "nvcr.io/nvidia/cuda:11.0.3-devel-ubuntu20.04",
+        "injections": {
+            "ros2": "foxy"
+        }
+    },
+    {
+        "tag": "cuda11.2-foxy-ubuntu20.04-devel",
+        "external_image": "nvcr.io/nvidia/cuda:11.2.2-devel-ubuntu20.04",
+        "injections": {
+            "ros2": "foxy"
+        }
+    },
+    {
+        "tag": "cuda11.4-foxy-ubuntu20.04-devel",
+        "external_image": "nvcr.io/nvidia/cuda:11.4.3-devel-ubuntu20.04",
+        "injections": {
+            "ros2": "foxy"
+        }
+    },
+    {
+        "tag": "cuda11.7-humble-ubuntu22.04-devel",
+        "external_image": "nvcr.io/nvidia/cuda:11.7.1-devel-ubuntu22.04",
+        "injections": {
+            "ros2": "humble"
+        }
+    },
+    {
+        "tag": "cuda11.8-humble-ubuntu22.04-devel",
+        "external_image": "nvcr.io/nvidia/cuda:11.8.0-devel-ubuntu22.04",
+        "injections": {
+            "ros2": "humble"
+        }
+    },
+    {
+        "tag": "cuda12.0-humble-ubuntu22.04-devel",
+        "external_image": "nvcr.io/nvidia/cuda:12.0.0-devel-ubuntu22.04",
+        "injections": {
+            "ros2": "humble"
+        }
+    },
+    {
+        "tag": "cuda12.2-humble-ubuntu22.04-devel",
+        "external_image": "nvcr.io/nvidia/cuda:12.2.2-devel-ubuntu22.04",
+        "injections": {
+            "ros2": "humble"
+        }
+    },
+
+
+
+
+    {
+        "tag": "cuda11.0-cudnn8-foxy-ubuntu20.04",
+        "external_image": "nvcr.io/nvidia/cuda:11.0.3-cudnn8-runtime-ubuntu20.04",
+        "injections": {
+            "ros2": "foxy"
+        }
+    },
+    {
+        "tag": "cuda11.2-cudnn8-foxy-ubuntu20.04",
+        "external_image": "nvcr.io/nvidia/cuda:11.2.2-cudnn8-runtime-ubuntu20.04",
+        "injections": {
+            "ros2": "foxy"
+        }
+    },
+    {
+        "tag": "cuda11.4-cudnn8-foxy-ubuntu20.04",
+        "external_image": "nvcr.io/nvidia/cuda:11.4.3-cudnn8-runtime-ubuntu20.04",
+        "injections": {
+            "ros2": "foxy"
+        }
+    },
+    {
+        "tag": "cuda11.7-cudnn8-humble-ubuntu22.04",
+        "external_image": "nvcr.io/nvidia/cuda:11.7.1-cudnn8-runtime-ubuntu22.04",
+        "injections": {
+            "ros2": "humble"
+        }
+    },
+    {
+        "tag": "cuda11.8-cudnn8-humble-ubuntu22.04",
+        "external_image": "nvcr.io/nvidia/cuda:11.8.0-cudnn8-runtime-ubuntu22.04",
+        "injections": {
+            "ros2": "humble"
+        }
+    },
+    {
+        "tag": "cuda12.0-cudnn8-humble-ubuntu22.04",
+        "external_image": "nvcr.io/nvidia/cuda:12.0.0-cudnn8-runtime-ubuntu22.04",
+        "injections": {
+            "ros2": "humble"
+        }
+    },
+    {
+        "tag": "cuda12.2-cudnn8-humble-ubuntu22.04",
+        "external_image": "nvcr.io/nvidia/cuda:12.2.2-cudnn8-runtime-ubuntu22.04",
+        "injections": {
+            "ros2": "humble"
+        }
+    }
+]
+}

.github/templates/check_src_changes/action.yml

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+name: Check source file changes
+
+outputs:
+  modified_modules:
+    description: "Space deliminated list of modified modules"
+    value: ${{ steps.output-changes.outputs.modified_modules }}
+
+runs:
+  using: "composite"
+  steps:
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
+
+    - name: Find changed files outside of src directory
+      id: changed-files-outside-src
+      uses: tj-actions/changed-files@v42
+      with:
+        files: '!src/**'
+
+    - name: Find changed files inside src/wato_msgs folder
+      id: changed-files-wato-msgs
+      uses: tj-actions/changed-files@v42
+      with:
+        files: src/wato_msgs/**
+
+    - name: Find changed files inside src/controller folder
+      id: changed-files-controller
+      uses: tj-actions/changed-files@v42
+      with:
+        files: src/controller/**
+
+    - name: Get changed files inside src/interfacing folder
+      id: changed-files-interfacing
+      uses: tj-actions/changed-files@v42
+      with:
+        files: src/interfacing/**
+
+    - name: Get changed files inside src/perception folder
+      id: changed-files-perception
+      uses: tj-actions/changed-files@v42
+      with:
+        files: src/perception/**
+
+    - name: Get changed files inside src/samples folder
+      id: changed-files-samples
+      uses: tj-actions/changed-files@v42
+      with:
+        files: src/samples/**
+
+    - name: Get changed files inside src/simulation folder
+      id: changed-files-simulation
+      uses: tj-actions/changed-files@v42
+      with:
+        files: src/simulation/**
+
+    - name: Create list of changed modules
+      id: output-changes
+      env:
+        INFRASTRUCTURE_CHANGED: >
+          ${{ steps.changed-files-wato-msgs.outputs.any_changed == 'true' 
+          || steps.changed-files-outside-src.outputs.any_changed == 'true' }}
+        CONTROLLER_CHANGED: ${{ steps.changed-files-controller.outputs.any_changed }}
+        INTERFACING_CHANGED: ${{ steps.changed-files-interfacing.outputs.any_changed }}
+        PERCEPTION_CHANGED: ${{ steps.changed-files-perception.outputs.any_changed }}
+        SAMPLES_CHANGED: ${{ steps.changed-files-samples.outputs.any_changed }}
+        SIMULATION_CHANGED: ${{ steps.changed-files-simulation.outputs.any_changed }}
+
+      run: ${{ github.action_path }}/check_src_changes.sh
+      shell: bash

.github/templates/check_src_changes/check_src_changes.sh

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+#!/bin/bash
+set -e
+
+################# Create a space delimited list of modified modules #################
+# Outputs a list of modified modules by comparing changes between main and current commit
+# References previous GitHub workflow steps
+
+# Controller
+if [ $CONTROLLER_CHANGED == 'true' ]; then
+    echo "Detected controller changes"
+    MODIFIED_MODULES+="controller "
+fi
+
+# Interfacing
+if [ $INTERFACING_CHANGED == 'true' ]; then
+    echo "Detected interfacing changes"
+    MODIFIED_MODULES+="interfacing "
+fi
+
+# Perception
+if [ $PERCEPTION_CHANGED == 'true' ]; then
+    echo "Detected perception changes"
+    MODIFIED_MODULES+="perception "
+fi
+
+# Samples
+if [ $SAMPLES_CHANGED == 'true' ]; then
+    echo "Detected samples changes"
+    MODIFIED_MODULES+="samples "
+fi
+
+# Simulation
+if [ $SIMULATION_CHANGED == 'true' ]; then
+    echo "Detected simulation changes"
+    MODIFIED_MODULES+="simulation "
+fi
+
+# Infrastructure
+if [ $INFRASTRUCTURE_CHANGED == 'true' ]; then
+    echo "::notice:: Detected infrastructure changes"
+    MODIFIED_MODULES="infrastructure"
+else
+    echo "::notice:: MODIFIED_MODULES are $MODIFIED_MODULES" 
+fi
+
+# Output lis
+echo "modified_modules=$MODIFIED_MODULES" >> $GITHUB_OUTPUT

.github/templates/docker_context/action.yml

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+name: Generate Docker Environment
+
+inputs:
+  modified_modules:
+    description: "Space deliminated list of modified modules"
+    required: true
+    default: ''
+  modules_dir:
+    description: "Path to modules folder"
+    required: false
+    default: "/"
+
+outputs:
+  docker_matrix:
+    description: "list of docker compose services"
+    value: ${{ steps.environment-generator.outputs.docker_matrix }}
+  registry:
+    description: "name of the docker registry we are using"
+    value: ${{ steps.environment-generator.outputs.registry }}
+  repository:
+    description: "name of the docker repository we are using"
+    value: ${{ steps.environment-generator.outputs.repository }}
+
+runs:
+  using: "composite"
+  steps:
+    - id: environment-generator
+      env: 
+        MODIFIED_MODULES: ${{ inputs.modified_modules }}
+      run: ${{ github.action_path }}/docker_context.sh
+      shell: bash