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ESP, the "Extensible Service Proxy", is the original proxy developed for Cloud Endpoints.
ESP is a custom build of nginx with source available at https://github.com/cloudendpoints/esp.
Official container images are available at gcr.io/endpoints-release/endpoints-runtime:1.
gcr.io/endpoints-release/endpoints-runtime:1
https://github.com/agentio/esp is a fork that includes a Dockerfile and configuration to use GitHub actions to build alternate container images that are published at https://github.com/agentio/esp/pkgs/container/esp.