Dockerfile

# FROM osrf/ros:humble-desktop AS common
FROM ghcr.io/automotiveaichallenge/autoware-universe:humble-latest AS common

RUN echo "deb [trusted=yes] https://download.eclipse.org/zenoh/debian-repo/ /" | tee -a /etc/apt/sources.list > /dev/null && apt-get update
RUN apt update && apt-get -y install terminator
RUN apt-get -y install libgl1-mesa-glx libgl1-mesa-dri
RUN apt-get -y install iproute2
RUN apt-get -y install wmctrl

RUN apt-get -y install ros-humble-rqt-tf-tree
RUN apt-get -y install ros-humble-rqt-graph
RUN apt-get -y install ros-humble-rosbag2-storage-mcap

RUN apt install zenoh-bridge-ros2dds terminator -y
RUN apt install arp-scan -y

COPY --chmod=757 remote /remote 
COPY --chmod=757 vehicle /vehicle

# PATH="$PATH:/root/.local/bin"
# PATH="/usr/local/cuda/bin:$PATH"
ENV PATH="/editor/cmd_line/:$PATH"
ENV XDG_RUNTIME_DIR=/tmp/xdg
ENV ROS_LOCALHOST_ONLY=0
ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
ENV CYCLONEDDS_URI=file:///opt/autoware/cyclonedds.xml

COPY vehicle/cyclonedds.xml /opt/autoware/cyclonedds.xml

FROM common AS dev

ENV RCUTILS_COLORIZED_OUTPUT=1

FROM common AS eval

ENV RCUTILS_COLORIZED_OUTPUT=0

RUN chmod u+x /editor/cmd_line/csv_editor
RUN chmod u+x /editor/cmd_line/raceline_to_traj

RUN mkdir /ws
RUN git clone --depth 1 https://github.com/AutomotiveAIChallenge/aichallenge-2024 /ws/repository
RUN mv /ws/repository/aichallenge /aichallenge
RUN rm -rf /aichallenge/simulator
RUN rm -rf /aichallenge/workspace/src/aichallenge_submit
RUN chmod 757 /aichallenge

COPY aichallenge/simulator/ /aichallenge/simulator/
COPY submit/aichallenge_submit.tar.gz /ws
RUN tar zxf /ws/aichallenge_submit.tar.gz -C /aichallenge/workspace/src
RUN rm -rf /ws

RUN bash -c ' \
  source /autoware/install/setup.bash; \
  cd /aichallenge/workspace; \
  rosdep update; \
  rosdep install -y -r -i --from-paths src --ignore-src --rosdistro $ROS_DISTRO; \
  colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'

ENTRYPOINT []
CMD ["bash", "/aichallenge/run_evaluation.bash"]