.gitlab-ci.yml

image: docker:19.03.12-git
services:
  - name: docker:19.03.12-dind
    command: ["--experimental"]

variables:
  DOCKER_DRIVER: overlay
  DOCKER_TLS_CERTDIR: "/certs"
  GIT_SUBMODULE_STRATEGY: recursive

services:
  - name: docker:19.03.5-dind

stages:
  - Build Buildx
  - Build Docker Images
  - Build ROS Workspace
  - Lint ROS Workspace

# https://stackoverflow.com/questions/58600986/gitlab-ci-trying-to-use-docker-buildx-to-build-for-arm64
Build Buildx: 
  stage: Build Buildx
  variables:
    GIT_STRATEGY: none
  artifacts:
    paths:
      - buildx
    expire_in: 1 hour
  script:
    - export DOCKER_BUILDKIT=1
    - git clone https://github.com/docker/buildx.git ./docker-buildx
    - docker build --platform=local -o . ./docker-buildx

Docker Build (amd64 and arm64):
        stage: Build Docker Images
        script:
                - mkdir -p ~/.docker/cli-plugins
                - mv buildx ~/.docker/cli-plugins/docker-buildx
                - docker run --rm --privileged multiarch/qemu-user-static --reset -p yes
                - docker info
                - docker login -u $CI_REGISTRY_USER -p $CI_REGISTRY_PASSWORD $CI_REGISTRY
                - docker context create mycontext 
                - docker buildx create --use mycontext
                - docker buildx build --pull --push --cache-from $CI_REGISTRY_IMAGE:latest -t $CI_REGISTRY_IMAGE:latest --platform linux/amd64,linux/arm64 docker/.


ROS Build Workspace:
        stage: Build ROS Workspace
        image: $CI_REGISTRY_IMAGE:latest
        before_script:
            # source ROS
            - source /opt/ros/noetic/setup.bash
            - cd catkin_workspace
        script:
        # build workspace
            - catkin build --summarize --no-notify --no-status --force-color

ROS Lint:
        stage: Lint ROS Workspace
        image: $CI_REGISTRY_IMAGE:latest
        allow_failure: true
        script:
                - catkin_lint catkin_workspace/src -W2 --ignore exported_pkg_config --color always