From 1651588733b37712a22799d8e77df936b0fb2933 Mon Sep 17 00:00:00 2001
From: Erik Holum <eholum@gmail.com>
Date: Thu, 19 Sep 2024 09:05:24 -0400
Subject: [PATCH] Parameterize base image name for the MoveIt2 build (issue
 #161)

---
 .github/workflows/docker-build.yml | 20 ++++++++++++++------
 moveit2/Dockerfile                 |  4 +++-
 moveit2/README.md                  |  8 ++++++++
 moveit2/build.sh                   |  4 +++-
 4 files changed, 28 insertions(+), 8 deletions(-)

diff --git a/.github/workflows/docker-build.yml b/.github/workflows/docker-build.yml
index 0326408..31ee595 100644
--- a/.github/workflows/docker-build.yml
+++ b/.github/workflows/docker-build.yml
@@ -20,12 +20,18 @@ jobs:
           # free up a lot of stuff from /usr/local
           sudo rm -rf /usr/local
           df -h
+      - name: Login to ghcr
+        uses: docker/login-action@v3
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4
       - name: Set up buildx
-        uses: docker/setup-buildx-action@v1
+        uses: docker/setup-buildx-action@v3
       - name: Build moveit2 image
-        uses: docker/build-push-action@v2
+        uses: docker/build-push-action@v6
         with:
           context: moveit2
           push: false
@@ -33,6 +39,8 @@ jobs:
           cache-from: type=gha
           cache-to: type=gha,mode=max
           no-cache: false
+          build-args: |
+            SPACE_ROS_IMAGE=ghcr.io/space-ros/space-ros:main
           outputs: type=docker,dest=/tmp/moveit2.tar
       - name: Build space robots demo image
         run: |
@@ -43,11 +51,11 @@ jobs:
     runs-on: ubuntu-20.04
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4
       - name: Set up buildx
-        uses: docker/setup-buildx-action@v1
+        uses: docker/setup-buildx-action@v3
       - name: Build space_nav2 image
-        uses: docker/build-push-action@v2
+        uses: docker/build-push-action@v6
         with:
           context: navigation2
           push: false
diff --git a/moveit2/Dockerfile b/moveit2/Dockerfile
index 599d4a9..f54ac1f 100644
--- a/moveit2/Dockerfile
+++ b/moveit2/Dockerfile
@@ -19,7 +19,9 @@
 #   VCS_REF     - The git revision of the Space ROS source code (no default value).
 #   VERSION     - The version of Space ROS (default: "preview")
 
-FROM osrf/space-ros:latest
+ARG SPACE_ROS_IMAGE=osrf/space-ros:latest
+
+FROM ${SPACE_ROS_IMAGE}
 
 # Define arguments used in the metadata definition
 ARG VCS_REF
diff --git a/moveit2/README.md b/moveit2/README.md
index 665d620..99093ec 100644
--- a/moveit2/README.md
+++ b/moveit2/README.md
@@ -11,6 +11,14 @@ To build the docker image, run:
 ./build.sh
 ```
 
+By default, this will build on top of the latest released version of the Space ROS base image (typically `osrf/space-ros:latest`).
+If building locally, the underlying base image can be set in the [build script](./build.sh), or through the environment with:
+
+```bash
+# Use a locally built image as the base
+SPACE_ROS_IMAGE="space-ros:main" ./build.sh
+```
+
 The build process will take about 30 minutes, depending on the host computer.
 
 ## Running the MoveIt2 Docker Image in a Container
diff --git a/moveit2/build.sh b/moveit2/build.sh
index 04cc00d..558c32e 100755
--- a/moveit2/build.sh
+++ b/moveit2/build.sh
@@ -16,7 +16,9 @@ echo ""
 
 docker build -t $ORG/$IMAGE:$TAG \
     --build-arg VCS_REF="$VCS_REF" \
-    --build-arg VERSION="$VERSION" .
+    --build-arg VERSION="$VERSION" \
+    --build-arg SPACE_ROS_IMAGE="${SPACE_ROS_IMAGE:-osrf/space-ros:latest}"
+    .
 
 echo ""
 echo "##### Done! #####"