borglab/gtsam-ci repository overview

⁠GTSAM CI Images

This directory contains Dockerfiles and scripts for generating Docker images used in the Continuous Integration (CI) pipelines for GTSAM.

⁠Image Variants

The images are organized by Ubuntu version and Compiler version to ensure GTSAM compiles across different environments.

⁠Base Images

• ubuntu-22.04-base: Ubuntu 22.04 with common dependencies (CMake, Boost, Eigen, TBB, etc.).
• ubuntu-24.04-base: Ubuntu 24.04 with common dependencies.
• ubuntu-26.04-base: Ubuntu 26.04 with common dependencies.

⁠Compiler-Specific Images

These extend the base images by setting up specific compilers.

Ubuntu 22.04:

• ubuntu-22.04-clang-11: Clang 11
• ubuntu-22.04-clang-14: Clang 14
• ubuntu-22.04-gcc-9: GCC 9
• ubuntu-22.04-gcc-11: GCC 11

Ubuntu 24.04:

• ubuntu-24.04-clang-16: Clang 16
• ubuntu-24.04-gcc-13: GCC 13
• ubuntu-24.04-gcc-14: GCC 14

Ubuntu 26.04:

• ubuntu-26.04-gcc-15: GCC 15

⁠Build and Push Script

The build_and_push.sh script automates the process of building these images and pushing them to Docker Hub.

⁠Authentication

Before running the script, you must be authenticated with Docker Hub. You can do this by running:

docker login

You will be prompted for your username and password (or access token).

⁠Usage

./build_and_push.sh <dockerhub-username>

This script:

1. Builds all *-base.Dockerfile images first.
2. Pushes base images to Docker Hub.
3. Builds the compiler-specific images (which depend on the base images).
4. Pushes specific images to Docker Hub.

⁠Dependencies

The base images install a comprehensive suite of development tools required by GTSAM, including:

• build-essential
• cmake, ninja-build
• libboost-all-dev
• libeigen3-dev
• libtbb-dev
• libmetis-dev
• python3-numpy, libpython3-dev

⁠Adding a New Image Variant

To support a new Ubuntu version or compiler configuration:

1. Create a new Dockerfile:

   • Follow the naming convention: ubuntu-<version>-<compiler>-<version>.Dockerfile (e.g., ubuntu-24.04-clang-17.Dockerfile).
   • If it's a new base Ubuntu version, create ubuntu-<version>-base.Dockerfile first.

2. Define the Image:

   • Copy an existing Dockerfile that is closest to your target configuration.
   • Update the FROM instruction if necessary.
   • Update the RUN commands to install the desired compiler versions.
   • For compiler images, ensure you set the environment variables CC and CXX correctly.

3. Build and Test:

   • Build the image locally to ensure it works: docker build -f <your-dockerfile> .
   • The build_and_push.sh script will automatically pick up the new file because it iterates over *.Dockerfile.