[ci] Add gazebo docker build

Author: jslee02

.github/workflows/ci_downstream.yml

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+# https://help.github.com/en/articles/workflow-syntax-for-github-actions
+
+name: CI Downstream
+
+on:
+  push:
+    branches:
+      - "**"
+    paths-ignore:
+      - ".github/workflows/cache_*.yml"
+      - "docker/dev/**"
+  pull_request:
+    branches:
+      - "**"
+    paths-ignore:
+      - ".github/workflows/cache_*.yml"
+      - "docker/dev/**"
+  schedule:
+    # Cron syntax: [minute hour day_of_the_month month day_of_the_week]
+    - cron: "0 2 * * 0,3" # Run every Sunday and Wednesday at 02:00
+  workflow_dispatch:
+
+env:
+  DOCKER_REPO: jslee02/dart-dev # https://hub.docker.com/repository/docker/jslee02/dart-dev
+
+jobs:
+  tracy:
+    name: gazebo
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        dart_version: [v6.14]
+        build_min: [ON]
+    env:
+      OS_VERSION: gazebo
+      DART_VERSION: ${{ matrix.dart_version }}
+    steps:
+      # https://github.com/marketplace/actions/docker-setup-qemu
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+      # https://github.com/marketplace/actions/docker-setup-buildx
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+      # https://github.com/marketplace/actions/docker-login
+      - name: Login to DockerHub
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKER_USERNAME }}
+          password: ${{ secrets.DOCKER_PASSWORD }}
+      # https://github.com/marketplace/actions/build-and-push-docker-images
+      - name: Build and push
+        id: docker_build
+        uses: docker/build-push-action@v5
+        with:
+          file: ./docker/dev/${{ env.DART_VERSION }}/Dockerfile.${{ env.OS_VERSION }}
+          push: true
+          tags: ${{ env.DOCKER_REPO }}:${{ env.OS_VERSION }}-${{ env.DART_VERSION }}
+      - name: Image digest
+        run: echo ${{ steps.docker_build.outputs.digest }}

docker/dev/v6.14/Dockerfile.gazebo

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+# Use an Ubuntu base image
+FROM jslee02/dart-dev:ubuntu-jammy-v6.14
+
+# Avoid warnings by switching to noninteractive
+ENV DEBIAN_FRONTEND=noninteractive
+
+WORKDIR /ws
+
+# Compile and install DART and dartpy
+COPY . /ws/dart
+RUN rm -rf /ws/dart/build
+RUN  cmake \
+    -S dart \
+    -B dart/build \
+    -DCMAKE_INSTALL_PREFIX=/usr/ \
+    -DCMAKE_BUILD_TYPE=Release .. \
+    -DBUILD_SHARED_LIBS=ON \
+    && cmake \
+    --build dart/build \
+    --target install \
+    -j16
+
+# Install Gazebo from source
+ENV IGNITION_PHYSICS_VERSION=7
+RUN apt-add-repository -s "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -c -s) main"
+RUN apt-get build-dep -y ignition-physics${IGNITION_PHYSICS_VERSION}-dev
+RUN clone https://github.com/ignitionrobotics/ign-physics -b ign-physics${IGNITION_PHYSICS_VERSION}
+RUN cmake \
+    -S ign-physics \
+    -B ign-physics/build \
+    -DCMAKE_BUILD_TYPE=Release .. \
+    && cmake \
+    --build build \
+    --target install \
+    -j16