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Merge pull request #131 from youtalk/upstream-to-main
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feat: upstream to main
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youtalk authored Nov 19, 2024
2 parents 3bf9a82 + 187a5b4 commit 0939b4b
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3 changes: 3 additions & 0 deletions .clang-tidy
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Expand Up @@ -202,6 +202,9 @@ WarningsAsErrors: "

HeaderFilterRegex: ^(?!\/usr)(?!\/opt)

ExtraArgs:
- -std=c++17

FormatStyle: none

CheckOptions:
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3 changes: 3 additions & 0 deletions .clang-tidy-ci
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Expand Up @@ -225,6 +225,9 @@ WarningsAsErrors: "

HeaderFilterRegex: ^(?!\/usr)(?!\/opt)

ExtraArgs:
- -std=c++17

CheckOptions:
- key: bugprone-argument-comment.CommentBoolLiterals
value: "0"
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18 changes: 14 additions & 4 deletions .github/actions/docker-build/action.yaml
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Expand Up @@ -8,6 +8,10 @@ inputs:
cache-tag-suffix:
description: Suffix of the target cache tag.
required: true
additional-repos:
description: Additional target .repos file.
default: ""
required: false
build-args:
description: Additional build args.
required: false
Expand All @@ -31,9 +35,15 @@ runs:
vcs import src < autoware.repos
shell: bash

- name: Import additional repositories
if: ${{ inputs.additional-repos != '' }}
run: |
vcs import src < ${{ inputs.additional-repos }}
shell: bash

- name: Cache ccache
uses: actions/cache@v4
if: ${{ github.ref == 'refs/heads/main' }}
if: ${{ github.ref == 'refs/heads/main' && inputs.additional-repos == '' }}
id: cache-ccache
with:
path: |
Expand All @@ -44,7 +54,7 @@ runs:
- name: Cache apt-get
uses: actions/cache@v4
if: ${{ github.ref == 'refs/heads/main' }}
if: ${{ github.ref == 'refs/heads/main' && inputs.additional-repos == '' }}
id: cache-apt-get
with:
path: |
Expand All @@ -55,7 +65,7 @@ runs:
- name: Restore ccache
uses: actions/cache/restore@v4
if: ${{ github.ref != 'refs/heads/main' }}
if: ${{ github.ref != 'refs/heads/main' || inputs.additional-repos != '' }}
with:
path: |
root-ccache
Expand All @@ -65,7 +75,7 @@ runs:
- name: Restore apt-get
uses: actions/cache/restore@v4
if: ${{ github.ref != 'refs/heads/main' }}
if: ${{ github.ref != 'refs/heads/main' || inputs.additional-repos != '' }}
with:
path: |
var-cache-apt
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3 changes: 1 addition & 2 deletions .github/workflows/docker-build-and-push.yaml
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Expand Up @@ -50,8 +50,7 @@ jobs:
docker/**
- name: Build 'Autoware' without CUDA
if: ${{ steps.author-check.outputs.author-found == 'true' ||
steps.changed-files.outputs.any_changed == 'true' ||
if: ${{ steps.changed-files.outputs.any_changed == 'true' ||
github.event_name == 'workflow_dispatch' ||
(github.event_name == 'push' && github.ref_type == 'tag') }}
uses: ./.github/actions/docker-build-and-push
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58 changes: 58 additions & 0 deletions .github/workflows/health-check-nightly.yaml
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@@ -0,0 +1,58 @@
name: health-check-nightly

on:
pull_request:
types:
- opened
- synchronize
- reopened
- labeled
schedule:
- cron: 0 6 * * *
workflow_dispatch:

jobs:
label-check:
uses: autowarefoundation/autoware-github-actions/.github/workflows/make-sure-label-is-present.yaml@v1
with:
label: tag:run-health-check

load-env:
needs: label-check
if: ${{ needs.label-check.outputs.result == 'true' ||
github.event_name == 'schedule' ||
github.event_name == 'workflow_dispatch' }}
uses: ./.github/workflows/load-env.yaml

docker-build-nightly:
needs: load-env
runs-on: ubuntu-22.04
strategy:
fail-fast: false
steps:
- name: Check out repository
uses: actions/checkout@v4

- name: Set git config
uses: autowarefoundation/autoware-github-actions/set-git-config@v1
with:
token: ${{ secrets.GITHUB_TOKEN }}

- name: Free disk space
uses: ./.github/actions/free-disk-space

- name: Build 'Autoware'
uses: ./.github/actions/docker-build
with:
platform: amd64
cache-tag-suffix: nightly
additional-repos: autoware-nightly.repos
build-args: |
ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
BASE_IMAGE=${{ needs.load-env.outputs.base_image }}
LIB_DIR=x86_64
- name: Show disk space
if: always()
run: |
df -h
34 changes: 26 additions & 8 deletions ansible/roles/cuda/README.md
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@@ -1,6 +1,6 @@
# cuda

This role installs [CUDA Toolkit](https://developer.nvidia.com/cuda-toolkit) following [this page](https://developer.nvidia.com/cuda-downloads?target_os=Linux&target_arch=x86_64&Distribution=Ubuntu&target_version=22.04&target_type=deb_network) and [this page](https://docs.nvidia.com/cuda/cuda-installation-guide-linux/index.html#post-installation-actions).
This role installs [CUDA Toolkit](https://developer.nvidia.com/cuda-toolkit) following [this page](https://developer.nvidia.com/cuda-12-3-0-download-archive?target_os=Linux&target_arch=x86_64&Distribution=Ubuntu&target_version=22.04&target_type=deb_network) and [this page](https://docs.nvidia.com/cuda/cuda-installation-guide-linux/index.html#post-installation-actions).

This role also registers Vulkan, OpenGL, and OpenCL GPU vendors for future use.

Expand All @@ -13,22 +13,36 @@ This role also registers Vulkan, OpenGL, and OpenCL GPU vendors for future use.

## Manual Installation

Follow these instructions to download and install the CUDA Toolkit and the corresponding NVIDIA Driver for Ubuntu 20.04.
### Version compatibility

For Universe, the `cuda_version` version can also be found in:
[../../playbooks/universe.yaml](../../playbooks/universe.yaml)
Autoware currently uses CUDA `12.3` and from this [CUDA Application Compatibility Support Matrix](https://docs.nvidia.com/deploy/cuda-compatibility/#use-the-right-compat-package) that only the NVIDIA driver version `545` is compatible with this version of CUDA.

#### 🛠️ For Advanced Users

⚠️ **Proceed with caution**: Avoid removing essential system components.

To prevent conflicts during NVIDIA installation, we recommend completely removing old NVIDIA Drivers and CUDA by following this guide: [How can I uninstall a NVIDIA driver completely?](https://askubuntu.com/a/206289/761440).

- **Important**: If you remove the previous NVIDIA drivers, ensure you install the recommended versions listed below **before restarting your system**.

Once the drivers are installed correctly, you may safely restart your system.

### CUDA Toolkit and Driver

Follow these instructions to download and install the CUDA Toolkit.

From: <https://docs.nvidia.com/cuda/cuda-installation-guide-linux/index.html#network-repo-installation-for-ubuntu>

```bash
wget -O /tmp/amd64.env https://raw.githubusercontent.com/autowarefoundation/autoware/main/amd64.env && source /tmp/amd64.env

# From: https://docs.nvidia.com/cuda/cuda-installation-guide-linux/index.html#network-repo-installation-for-ubuntu

os=ubuntu2204
wget https://developer.download.nvidia.com/compute/cuda/repos/$os/$(uname -m)/cuda-keyring_1.1-1_all.deb
sudo dpkg -i cuda-keyring_1.1-1_all.deb
sudo apt-get update
cuda_version_dashed=$(eval sed -e "s/[.]/-/g" <<< "${cuda_version}")
sudo apt-get -y install cuda-${cuda_version_dashed}
sudo apt-get -y install cuda-toolkit-${cuda_version_dashed}
sudo apt-get install -y cuda-drivers-545
```

Perform the post installation actions:
Expand All @@ -37,9 +51,13 @@ Perform the post installation actions:
# Taken from: https://docs.nvidia.com/cuda/cuda-installation-guide-linux/index.html#post-installation-actions
echo 'export PATH=/usr/local/cuda/bin${PATH:+:${PATH}}' >> ~/.bashrc
echo 'export LD_LIBRARY_PATH=/usr/local/cuda/lib64${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}' >> ~/.bashrc
```

### GPU Vendors

# Register Vulkan, OpenGL, and OpenCL GPU vendors
Register Vulkan, OpenGL, and OpenCL GPU vendors following the instructions below.

```bash
# Create Vulkan directory
sudo mkdir -p /etc/vulkan/icd.d
sudo chmod 0755 /etc/vulkan/icd.d
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25 changes: 9 additions & 16 deletions ansible/roles/dev_tools/README.md
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Expand Up @@ -12,34 +12,27 @@ This role installs optional development tools for Autoware.

## Inputs

| Name | Required | Description |
| ------------- | -------- | --------------------------------------- |
| clang-version | true | The version of clang-format to install. |
| ros-distro | true | The ROS distribution. |
| Name | Required | Description |
| ------------------------------- | -------- | --------------------------------------- |
| pre_commit_clang_format_version | true | The version of clang-format to install. |
| rosdistro | true | The ROS distribution. |

## Manual Installation

```bash
#!/bin/bash
# For the environment variables
wget -O /tmp/amd64.env https://raw.githubusercontent.com/autowarefoundation/autoware/main/amd64.env && source /tmp/amd64.env

# Update package lists
sudo apt-get update

# Install Git LFS
sudo apt install python3-pip
sudo apt-get install -y golang
sudo apt-get install -y ros-${rosdistro}-plotjuggler-ros
sudo apt-get install -y git-lfs

# Setup Git LFS
git lfs install

# Install pre-commit using pip3
pip3 install pre-commit

# Install a specific version of clang-format using pip3
pip3 install clang-format==${pre_commit_clang_format_version}

# Install Go
sudo apt-get install -y golang

# Install PlotJuggler
sudo apt-get install -y ros-${ROS_DISTRO}-plotjuggler-ros
```
22 changes: 7 additions & 15 deletions ansible/roles/tensorrt/README.md
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@@ -1,6 +1,6 @@
# tensorrt

This role installs TensorRT and cuDNN following [this page](https://docs.nvidia.com/deeplearning/tensorrt/install-guide/index.html#installing).
This role installs TensorRT and cuDNN following [the official NVIDIA TensorRT Installation Guide](https://docs.nvidia.com/deeplearning/tensorrt/install-guide/index.html#installing).

## Inputs

Expand All @@ -11,29 +11,16 @@ This role installs TensorRT and cuDNN following [this page](https://docs.nvidia.

## Manual Installation

For Universe, the `cudnn_version` and `tensorrt_version` variables should be copied from
[amd64.env](../../../amd64.env) or [arm64.env](../../../arm64.env) depending on the architecture used.

```bash
# For the environment variables
wget -O /tmp/amd64.env https://raw.githubusercontent.com/autowarefoundation/autoware/main/amd64.env && source /tmp/amd64.env

# Can also be found at: https://docs.nvidia.com/deeplearning/tensorrt/install-guide/index.html#installing

sudo apt-get install -y \
libcudnn8=${cudnn_version} \
libnvinfer8=${tensorrt_version} \
libnvinfer-plugin8=${tensorrt_version} \
libnvparsers8=${tensorrt_version} \
libnvonnxparsers8=${tensorrt_version} \

sudo apt-mark hold \
libcudnn8 \
libnvinfer8 \
libnvinfer-plugin8 \
libnvparsers8 \
libnvonnxparsers8

sudo apt-get install -y \
libcudnn8-dev=${cudnn_version} \
libnvinfer-dev=${tensorrt_version} \
libnvinfer-plugin-dev=${tensorrt_version} \
Expand All @@ -43,6 +30,11 @@ libnvparsers-dev=${tensorrt_version} \
libnvonnxparsers-dev=${tensorrt_version}

sudo apt-mark hold \
libcudnn8 \
libnvinfer8 \
libnvinfer-plugin8 \
libnvparsers8 \
libnvonnxparsers8 \
libcudnn8-dev \
libnvinfer-dev \
libnvinfer-plugin-dev \
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37 changes: 37 additions & 0 deletions autoware-nightly.repos
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@@ -0,0 +1,37 @@
repositories:
core/autoware.core:
type: git
url: https://github.com/autowarefoundation/autoware.core.git
version: main
universe/autoware.universe:
type: git
url: https://github.com/autowarefoundation/autoware.universe.git
version: main
launcher/autoware_launch:
type: git
url: https://github.com/autowarefoundation/autoware_launch.git
version: main
sensor_kit/sample_sensor_kit_launch:
type: git
url: https://github.com/autowarefoundation/sample_sensor_kit_launch.git
version: main
sensor_kit/external/awsim_sensor_kit_launch: # TODO: Integrate into sample_sensor_kit_launch
type: git
url: https://github.com/tier4/awsim_sensor_kit_launch.git
version: main
sensor_kit/awsim_labs_sensor_kit_launch:
type: git
url: https://github.com/autowarefoundation/awsim_labs_sensor_kit_launch.git
version: main
sensor_kit/single_lidar_sensor_kit_launch:
type: git
url: https://github.com/autowarefoundation/single_lidar_sensor_kit_launch.git
version: main
vehicle/sample_vehicle_launch:
type: git
url: https://github.com/autowarefoundation/sample_vehicle_launch.git
version: main
vehicle/awsim_labs_vehicle_launch:
type: git
url: https://github.com/autowarefoundation/awsim_labs_vehicle_launch.git
version: main
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