fixed ros layer and started to tune in webots. setup a ros walk and l… #429

	name: Docker Image ARM
	# Ref: https://docs.docker.com/desktop/multi-arch/

	on:
	workflow_dispatch:
	inputs:
	use_cached_image:
	description: "Use cached image"
	required: false
	default: true
	type: boolean
	schedule:
	- cron: "0 1 1 * *"
	push:
	branches: [master, fix_again]
	paths-ignore:
	- "**.md"

	jobs:
	build_arm:
	runs-on: ubuntu-20.04
	env:
	DOCKER_TARGET_PLATFORM: linux/arm64/v8
	concurrency:
	group: ${{ github.workflow }}-${{ github.ref }}
	cancel-in-progress: true
	steps:
	- name: Maximize build space
	run: \|
	sudo rm -rf /usr/local/lib/android
	sudo rm -rf /usr/share/dotnet
	sudo rm -rf /opt/ghc
	df -h
	- uses: actions/checkout@v3
	with:
	lfs: true
	submodules: recursive
	# Ensure that the filesystem permissions are consistent across all umasks, all git checkouts:
	- name: Set filesystems permissions
	run: \|
	chmod -R g+w .
	- name: Docker Login
	uses: docker/[email protected]
	with:
	username: ${{ secrets.DOCKER_USERNAME }}
	password: ${{ secrets.DOCKER_TOKEN }}
	- name: Set up QEMU
	uses: docker/setup-qemu-action@v2
	- name: Set up Docker Buildx
	uses: docker/setup-buildx-action@v2
	- name: Build Image
	uses: docker/build-push-action@v4
	with:
	context: .
	push: true
	file: Dockerfile
	platforms: linux/arm64
	tags: utrarobosoccer/soccerbot:arm64
	cache-from: type=registry,ref=utrarobosoccer/soccerbot:arm64
	cache-to: type=inline
	build-args: \|
	BASE_IMAGE=arm64v8/ros:noetic-robot
	ARCHITECTURE=sbsa

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