Merge commit 'ada77d59ffd6545105e40e88e4ad50050062a3d6' into feature/…

…synchronized_action
tier4 · Apr 10, 2024 · be53d79 · be53d79
2 parents 0f089d5 + ada77d5
commit be53d79
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diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml
@@ -19,8 +19,8 @@ on:
       - master
 jobs:
   job1:
-    name: Build and run
-    runs-on: ubuntu-22.04
+    name: BuildAndRun
+    runs-on: ${{ matrix.runs_on }}
     timeout-minutes: 180
     container: ros:${{ matrix.rosdistro }}
     env:
@@ -29,6 +29,7 @@ jobs:
       fail-fast: false
       matrix:
         rosdistro: [humble]
+        runs_on: [ubuntu-22.04] # macos-14 is added for arm support. See also https://x.com/github/status/1752458943245189120?s=20
     steps:
       - name: Suppress warnings
         run: git config --global --add safe.directory '*'

diff --git a/.github/workflows/Docker.yaml b/.github/workflows/Docker.yaml
@@ -6,30 +6,39 @@ on:
     - cron: 0 0 * * *
   pull_request:
     paths:
-      - '**'
-      - '!docs/**'
-      - '!README.md'
-      - '!.github/**'
-      - '.github/workflows/Docker.yaml'
-      - '!mkdocs.yml'
+      - "**"
+      - "!docs/**"
+      - "!README.md"
+      - "!.github/**"
+      - ".github/workflows/Docker.yaml"
+      - "!mkdocs.yml"
   push:
     branches:
       - master
   release:
     types: [published]
 jobs:
-  job1:
-    name: Build Docker image
-    runs-on: ubuntu-20.04
-    timeout-minutes: 180
+  build_docker_image:
+    name: Build Docker Image
+    runs-on: ubuntu-22.04
+    timeout-minutes: 720
     strategy:
       matrix:
         rosdistro: [humble]
+        arch: [amd64, arm64]
     steps:
-      - uses: actions/checkout@v3
+      - name: Free Disk Space (Ubuntu)
+        uses: jlumbroso/free-disk-space@main
+        with:
+          tool-cache: false
+
+      - name: Install docker for ubuntu runner
+        uses: docker/setup-buildx-action@v3
 
-      - name: Setup Docker buildx
-        uses: docker/setup-buildx-action@v2
+      - name: Install QEMU
+        uses: docker/setup-qemu-action@v3
+
+      - uses: actions/checkout@v3
 
       - name: Login to GitHub Container Registry
         uses: docker/login-action@v2
@@ -38,10 +47,15 @@ jobs:
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
-      - name: Build and push
-        uses: docker/build-push-action@v3
+      - name: Build and push (${{ matrix.arch }})
+        uses: docker/bake-action@v3
         with:
-          tags: ghcr.io/${{ github.repository_owner }}/scenario_simulator_v2:${{ matrix.rosdistro }}
-          no-cache: true
-          build-args: ROS_DISTRO=${{ matrix.rosdistro }}
-          push: ${{ github.event_name != 'pull_request' }}
+          files: |
+            ./docker-bake.hcl
+          workdir: .
+          set: |
+            *.cache-to=type=gha,mode=max
+            *.cache-from=type=gha
+          push: ${{ github.event_name != 'pull_request' && matrix.arch == 'amd64' }}
+          targets: |
+            ${{ matrix.rosdistro }}_base_${{ matrix.arch }}
diff --git a/.gitignore b/.gitignore
@@ -14,6 +14,7 @@ log
 # external packages
 external/*
 !external/concealer
+!external/embree_vendor
 
 # auto-generated files
 html

diff --git a/Dockerfile b/Dockerfile
@@ -1,14 +1,22 @@
-ARG ROS_DISTRO
-FROM ros:${ROS_DISTRO}
+ARG ROS_DISTRO="humble"
+FROM ros:${ROS_DISTRO} as build-stage
 SHELL ["/bin/bash", "-c"]
 ENV DEBIAN_FRONTEND=noninteractive
 ENV DEBCONF_NOWARNINGS=yes
-ARG ROS_DISTRO
 
-RUN sudo apt-get update && sudo apt-get -y install python3-pip python3-rospkg python3-rosdep software-properties-common
+RUN --mount=type=cache,id=apt-cache-amd64,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,id=apt-lib-amd64,target=/var/lib/apt,sharing=locked \
+    apt-get update && apt-get -y install python3-pip python3-rospkg python3-rosdep software-properties-common ccache
 # cspell: ignore kisak
-RUN add-apt-repository ppa:kisak/kisak-mesa -y
-RUN apt-get update && apt-get install libegl-mesa0 -y
+RUN --mount=type=cache,id=apt-cache-amd64,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,id=apt-lib-amd64,target=/var/lib/apt,sharing=locked \
+    add-apt-repository ppa:kisak/kisak-mesa -y
+RUN --mount=type=cache,id=apt-cache-amd64,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,id=apt-lib-amd64,target=/var/lib/apt,sharing=locked \
+    apt-get update && apt-get install libegl-mesa0 -y
+
+RUN rm -f /etc/apt/apt.conf.d/docker-clean && \
+    echo 'Binary::apt::APT::Keep-Downloaded-Packages "true";' > /etc/apt/apt.conf.d/keep-cache
 
 WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws/src/scenario_simulator
 COPY . $WORKDIR
@@ -18,10 +26,24 @@ RUN mkdir -p /home/ubuntu/Desktop/scenario_simulator_ws/src/scenario_simulator/e
 WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws/src/scenario_simulator
 RUN vcs import external < dependency_${ROS_DISTRO}.repos
 WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws/src
-RUN source /opt/ros/${ROS_DISTRO}/setup.bash && rosdep install -iy --from-paths . --rosdistro ${ROS_DISTRO}
+RUN --mount=type=cache,id=apt-cache-amd64,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,id=apt-lib-amd64,target=/var/lib/apt,sharing=locked \
+    source /opt/ros/${ROS_DISTRO}/setup.bash \
+    && apt-get update \
+    && rosdep install -iy --from-paths . --rosdistro ${ROS_DISTRO}
 
 WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws
-RUN source /opt/ros/${ROS_DISTRO}/setup.bash && colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+ENV CC="/usr/lib/ccache/gcc"
+ENV CXX="/usr/lib/ccache/g++"
+ENV CCACHE_DIR="/ccache"
+RUN --mount=type=cache,target=/ccache source /opt/ros/${ROS_DISTRO}/setup.bash && \
+    colcon build --symlink-install \
+    --cmake-args \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_C_COMPILER_LAUNCHER=ccache \
+    -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
+    -DBUILD_CPP_MOCK_SCENARIOS=ON
 COPY ./docker-entrypoint.sh /
 RUN chmod a+x /docker-entrypoint.sh
 

diff --git a/Dockerfile.arm64 b/Dockerfile.arm64
@@ -0,0 +1,53 @@
+ARG ROS_DISTRO="humble"
+
+# cspell: ignore impactaky deno BUILDPLATFORM TARGETARCH
+
+FROM --platform=${BUILDPLATFORM} impactaky/mc-ubuntu22.04-${TARGETARCH}-host:2.1.0 AS mimic-host
+FROM ros:${ROS_DISTRO} as build-stage
+
+SHELL ["/bin/bash", "-c"]
+ENV DEBIAN_FRONTEND=noninteractive
+ENV DEBCONF_NOWARNINGS=yes
+
+COPY --from=mimic-host / /mimic-cross
+RUN /mimic-cross/mimic-cross.deno/setup.sh
+
+RUN --mount=type=cache,id=apt-cache-arm64,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,id=apt-lib-arm64,target=/var/lib/apt,sharing=locked \
+    sudo apt-get update && sudo apt-get -y install python3-pip python3-rospkg python3-rosdep software-properties-common ccache
+# cspell: ignore kisak
+RUN --mount=type=cache,id=apt-cache-arm64,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,id=apt-lib-arm64,target=/var/lib/apt,sharing=locked \
+    add-apt-repository ppa:kisak/kisak-mesa -y
+RUN --mount=type=cache,id=apt-cache-arm64,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,id=apt-lib-arm64,target=/var/lib/apt,sharing=locked \
+    apt-get update && apt-get install libegl-mesa0 -y
+
+RUN rm -f /etc/apt/apt.conf.d/docker-clean && \
+    echo 'Binary::apt::APT::Keep-Downloaded-Packages "true";' > /etc/apt/apt.conf.d/keep-cache
+
+WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws/src/scenario_simulator
+COPY . $WORKDIR
+
+WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws/
+RUN mkdir -p /home/ubuntu/Desktop/scenario_simulator_ws/src/scenario_simulator/external
+WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws/src/scenario_simulator
+RUN vcs import external < dependency_${ROS_DISTRO}.repos
+WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws/src
+RUN --mount=type=cache,id=apt-cache-arm64,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,id=apt-lib-arm64,target=/var/lib/apt,sharing=locked \
+    source /opt/ros/${ROS_DISTRO}/setup.bash \
+    && apt-get update \
+    && rosdep install -iy --from-paths . --rosdistro ${ROS_DISTRO}
+
+WORKDIR /home/ubuntu/Desktop/scenario_simulator_ws
+
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash && \
+    colcon build --symlink-install \
+    --cmake-args \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DBUILD_CPP_MOCK_SCENARIOS=ON
+COPY ./docker-entrypoint.sh /
+RUN chmod a+x /docker-entrypoint.sh
+
+ENTRYPOINT ["/docker-entrypoint.sh"]
diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst
@@ -2,6 +2,27 @@
 Changelog for package arithmetic
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.11.3 (2024-04-09)
+-------------------
+* Merge branch 'master' into refactor/basic_types
+* Merge branch 'master' into refactor/basic_types
+* Merge branch 'master' into refactor/basic_types
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
+1.11.2 (2024-04-08)
+-------------------
+
+1.11.1 (2024-04-05)
+-------------------
+
+1.11.0 (2024-04-02)
+-------------------
+* Merge branch 'master' of https://github.com/tier4/scenario_simulator_v2 into feature/arm_support
+* Merge remote-tracking branch 'origin/master' into feature/arm_support
+* Merge remote-tracking branch 'upstream/master' into feature/arm_support
+* Merge branch 'master' of https://github.com/tier4/scenario_simulator_v2 into feature/arm_support
+* Contributors: Masaya Kataoka, f0reachARR
+
 1.10.0 (2024-03-28)
 -------------------
 * Merge branch 'master' into feature/simple_sensor_simulator/custom_noise

diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>arithmetic</name>
-  <version>1.10.0</version>
+  <version>1.11.3</version>
   <description>arithmetic library for scenario_simulator_v2</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/common/math/geometry/CHANGELOG.rst b/common/math/geometry/CHANGELOG.rst
@@ -2,6 +2,27 @@
 Changelog for package geometry
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.11.3 (2024-04-09)
+-------------------
+* Merge branch 'master' into refactor/basic_types
+* Merge branch 'master' into refactor/basic_types
+* Merge branch 'master' into refactor/basic_types
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
+1.11.2 (2024-04-08)
+-------------------
+
+1.11.1 (2024-04-05)
+-------------------
+
+1.11.0 (2024-04-02)
+-------------------
+* Merge branch 'master' of https://github.com/tier4/scenario_simulator_v2 into feature/arm_support
+* Merge remote-tracking branch 'origin/master' into feature/arm_support
+* Merge remote-tracking branch 'upstream/master' into feature/arm_support
+* Merge branch 'master' of https://github.com/tier4/scenario_simulator_v2 into feature/arm_support
+* Contributors: Masaya Kataoka, f0reachARR
+
 1.10.0 (2024-03-28)
 -------------------
 * Merge branch 'master' into feature/simple_sensor_simulator/custom_noise

diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>geometry</name>
-  <version>1.10.0</version>
+  <version>1.11.3</version>
   <description>geometry math library for scenario_simulator_v2 application</description>
   <maintainer email="[email protected]">Masaya Kataoka</maintainer>
   <license>Apache License 2.0</license>

diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst
@@ -2,6 +2,28 @@
 Changelog for package scenario_simulator_exception
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.11.3 (2024-04-09)
+-------------------
+* Merge branch 'master' into refactor/basic_types
+* Merge branch 'master' into refactor/basic_types
+* Merge branch 'master' into refactor/basic_types
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
+1.11.2 (2024-04-08)
+-------------------
+
+1.11.1 (2024-04-05)
+-------------------
+
+1.11.0 (2024-04-02)
+-------------------
+* Merge branch 'master' of https://github.com/tier4/scenario_simulator_v2 into feature/arm_support
+* Merge remote-tracking branch 'origin/master' into feature/arm_support
+* Merge remote-tracking branch 'upstream/master' into feature/arm_support
+* Merge branch 'master' of https://github.com/tier4/scenario_simulator_v2 into feature/arm_support
+* Merge remote-tracking branch 'origin' into feature/arm_support
+* Contributors: Masaya Kataoka, f0reachARR
+
 1.10.0 (2024-03-28)
 -------------------
 * Merge branch 'master' into feature/simple_sensor_simulator/custom_noise

diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>scenario_simulator_exception</name>
-  <version>1.10.0</version>
+  <version>1.11.3</version>
   <description>Exception types for scenario simulator</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/common/simple_junit/CHANGELOG.rst b/common/simple_junit/CHANGELOG.rst
@@ -2,6 +2,28 @@
 Changelog for package junit_exporter
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.11.3 (2024-04-09)
+-------------------
+* Merge branch 'master' into refactor/basic_types
+* Merge branch 'master' into refactor/basic_types
+* Merge branch 'master' into refactor/basic_types
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
+1.11.2 (2024-04-08)
+-------------------
+
+1.11.1 (2024-04-05)
+-------------------
+
+1.11.0 (2024-04-02)
+-------------------
+* Merge branch 'master' of https://github.com/tier4/scenario_simulator_v2 into feature/arm_support
+* Merge remote-tracking branch 'origin/master' into feature/arm_support
+* Merge remote-tracking branch 'upstream/master' into feature/arm_support
+* Merge branch 'master' of https://github.com/tier4/scenario_simulator_v2 into feature/arm_support
+* Merge remote-tracking branch 'origin' into feature/arm_support
+* Contributors: Masaya Kataoka, f0reachARR
+
 1.10.0 (2024-03-28)
 -------------------
 * Merge branch 'master' into feature/simple_sensor_simulator/custom_noise

diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>simple_junit</name>
-  <version>1.10.0</version>
+  <version>1.11.3</version>
   <description>Lightweight JUnit library for ROS 2</description>
   <maintainer email="[email protected]">Masaya Kataoka</maintainer>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>

diff --git a/common/status_monitor/CHANGELOG.rst b/common/status_monitor/CHANGELOG.rst
@@ -2,6 +2,27 @@
 Changelog for package status_monitor
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.11.3 (2024-04-09)
+-------------------
+* Merge branch 'master' into refactor/basic_types
+* Merge branch 'master' into refactor/basic_types
+* Merge branch 'master' into refactor/basic_types
+* Contributors: Kotaro Yoshimoto, Tatsuya Yamasaki
+
+1.11.2 (2024-04-08)
+-------------------
+
+1.11.1 (2024-04-05)
+-------------------
+
+1.11.0 (2024-04-02)
+-------------------
+* Merge branch 'master' of https://github.com/tier4/scenario_simulator_v2 into feature/arm_support
+* Merge remote-tracking branch 'origin/master' into feature/arm_support
+* Merge remote-tracking branch 'upstream/master' into feature/arm_support
+* Merge branch 'master' of https://github.com/tier4/scenario_simulator_v2 into feature/arm_support
+* Contributors: Masaya Kataoka, f0reachARR
+
 1.10.0 (2024-03-28)
 -------------------
 * Merge branch 'master' into feature/simple_sensor_simulator/custom_noise

diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>status_monitor</name>
-  <version>1.10.0</version>
+  <version>1.11.3</version>
   <description>none</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>