added docker publish action

.github/workflows/docker-publish.yml

@@ -0,0 +1,65 @@
+name: Publish Docker image to ghcr
+
+on:
+  push:
+    branches: [ ros2 ]
+  workflow_dispatch:
+
+  pull_request:
+    types: [opened, reopened]
+    branches: [ ros2 ]
+
+env:
+  REGISTRY: ghcr.io
+  REGISTRY_IMAGE: ${{ github.repository }}
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        ros_distro:
+          - rolling
+          - humble
+          - iron
+
+    permissions:
+      contents: read
+      packages: write
+
+    steps:
+      - name: Checkout own repository
+        uses: actions/checkout@v4
+
+      - name: Set up QEMU
+        if: matrix.architecture != 'linux/amd64'
+        uses: docker/setup-qemu-action@v3
+
+      - name: Extract metadata (tags, labels) for Docker
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: ${{ env.REGISTRY_IMAGE }}
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v3
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Build and push Docker image
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          file: Dockerfile
+          push: ${{ github.event_name != 'pull_request' }}
+          tags: ${{ env.REGISTRY }}/${{ env.REGISTRY_IMAGE }}-${{ matrix.ros_distro }}:$(date +%s)
+          labels: ${{ steps.meta.outputs.labels }}
+          cache-from: type=gha
+          cache-to: type=gha,mode=max
+          platforms: linux/arm64,linux/amd64