integrate

Signed-off-by: Yutaka Kondo <[email protected]>
youtalk · Oct 22, 2024 · 17eb872 · 17eb872
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commit 17eb872
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diff --git a/.github/actions/docker-build-and-push-cuda/action.yaml b/.github/actions/docker-build-and-push-cuda/action.yaml
diff --git a/.github/actions/docker-build-and-push/action.yaml b/.github/actions/docker-build-and-push/action.yaml
@@ -103,6 +103,18 @@ runs:
         flavor: |
           latest=false
 
+    - name: Docker meta for autoware:universe-sensing-perception-devel-cuda
+      id: meta-universe-sensing-perception-devel-cuda
+      uses: docker/metadata-action@v5
+      with:
+        images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: |
+          type=raw,value=universe-sensing-perception-devel-cuda-${{ inputs.platform }}
+          type=raw,value=universe-sensing-perception-devel-cuda-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+        bake-target: docker-metadata-action-universe-sensing-perception-devel-cuda
+        flavor: |
+          latest=false
+
     - name: Docker meta for autoware:universe-sensing-perception
       id: meta-universe-sensing-perception
       uses: docker/metadata-action@v5
@@ -115,6 +127,18 @@ runs:
         flavor: |
           latest=false
 
+    - name: Docker meta for autoware:universe-sensing-perception-cuda
+      id: meta-universe-sensing-perception-cuda
+      uses: docker/metadata-action@v5
+      with:
+        images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: |
+          type=raw,value=universe-sensing-perception-cuda-${{ inputs.platform }}
+          type=raw,value=universe-sensing-perception-cuda-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+        bake-target: docker-metadata-action-universe-sensing-perception-cuda
+        flavor: |
+          latest=false
+
     - name: Docker meta for autoware:universe-localization-mapping-devel
       id: meta-universe-localization-mapping-devel
       uses: docker/metadata-action@v5
@@ -199,6 +223,18 @@ runs:
         flavor: |
           latest=false
 
+    - name: Docker meta for autoware:universe-devel-cuda
+      id: meta-universe-devel-cuda
+      uses: docker/metadata-action@v5
+      with:
+        images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: |
+          type=raw,value=universe-devel-cuda-${{ inputs.platform }}
+          type=raw,value=universe-devel-cuda-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+        bake-target: docker-metadata-action-universe-devel-cuda
+        flavor: |
+          latest=false
+
     - name: Docker meta for autoware:universe
       id: meta-universe
       uses: docker/metadata-action@v5
@@ -211,6 +247,18 @@ runs:
         flavor: |
           latest=auto
 
+    - name: Docker meta for autoware:universe-cuda
+      id: meta-universe-cuda
+      uses: docker/metadata-action@v5
+      with:
+        images: ${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: |
+          type=raw,value=universe-cuda-${{ inputs.platform }}
+          type=raw,value=universe-cuda-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+        bake-target: docker-metadata-action-universe-cuda
+        flavor: |
+          latest=auto
+
     - name: Login to Docker Hub
       uses: docker/login-action@v3
       with:
@@ -226,15 +274,19 @@ runs:
           ${{ steps.meta-base.outputs.bake-file }}
           ${{ steps.meta-core-devel.outputs.bake-file }}
           ${{ steps.meta-universe-sensing-perception-devel.outputs.bake-file }}
+          ${{ steps.meta-universe-sensing-perception-devel-cuda.outputs.bake-file }}
           ${{ steps.meta-universe-sensing-perception.outputs.bake-file }}
+          ${{ steps.meta-universe-sensing-perception-cuda.outputs.bake-file }}
           ${{ steps.meta-universe-localization-mapping-devel.outputs.bake-file }}
           ${{ steps.meta-universe-localization-mapping.outputs.bake-file }}
           ${{ steps.meta-universe-planning-control-devel.outputs.bake-file }}
           ${{ steps.meta-universe-planning-control.outputs.bake-file }}
           ${{ steps.meta-universe-vehicle-system-devel.outputs.bake-file }}
           ${{ steps.meta-universe-vehicle-system.outputs.bake-file }}
           ${{ steps.meta-universe-devel.outputs.bake-file }}
+          ${{ steps.meta-universe-devel-cuda.outputs.bake-file }}
           ${{ steps.meta-universe.outputs.bake-file }}
+          ${{ steps.meta-universe-cuda.outputs.bake-file }}
         provenance: false
         set: |
           ${{ inputs.build-args }}
diff --git a/.github/workflows/docker-build-and-push-arm64.yaml b/.github/workflows/docker-build-and-push-arm64.yaml
@@ -49,7 +49,7 @@ jobs:
             ansible/**
             docker/**
 
-      - name: Build 'Autoware' without CUDA
+      - name: Build 'Autoware'
         if: ${{ steps.author-check.outputs.author-found == 'true' ||
           steps.changed-files.outputs.any_changed == 'true' ||
           github.event_name == 'workflow_dispatch' ||
@@ -68,25 +68,6 @@ jobs:
             *.cache-to=type=registry,ref=${{ github.repository }}-buildcache:arm64-${{ github.head_ref }},mode=max
           dockerhub-token: ${{ secrets.DOCKERHUB_TOKEN }}
 
-      - name: Build 'Autoware' with CUDA
-        if: ${{ steps.author-check.outputs.author-found == 'true' ||
-          steps.changed-files.outputs.any_changed == 'true' ||
-          github.event_name == 'workflow_dispatch' ||
-          (github.event_name == 'push' && github.ref_type == 'tag') }}
-        uses: ./.github/actions/docker-build-and-push-cuda
-        with:
-          platform: arm64
-          bake-target: autoware
-          build-args: |
-            *.platform=linux/arm64
-            *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
-            *.args.BASE_IMAGE=${{ needs.load-env.outputs.base_image }}
-            *.args.LIB_DIR=aarch64
-            *.cache-from=type=registry,ref=${{ github.repository }}-buildcache:arm64-cuda-${{ github.head_ref }}
-            *.cache-from=type=registry,ref=${{ github.repository }}-buildcache:arm64-cuda-main
-            *.cache-to=type=registry,ref=${{ github.repository }}-buildcache:arm64-cuda-${{ github.head_ref }},mode=max
-          dockerhub-token: ${{ secrets.DOCKERHUB_TOKEN }}
-
       - name: Show disk space
         run: |
           df -h
diff --git a/.github/workflows/docker-build-and-push.yaml b/.github/workflows/docker-build-and-push.yaml
@@ -49,7 +49,7 @@ jobs:
             ansible/**
             docker/**
 
-      - name: Build 'Autoware' without CUDA
+      - name: Build 'Autoware'
         if: ${{ steps.author-check.outputs.author-found == 'true' ||
           steps.changed-files.outputs.any_changed == 'true' ||
           github.event_name == 'workflow_dispatch' ||
@@ -68,25 +68,6 @@ jobs:
             *.cache-to=type=registry,ref=${{ github.repository }}-buildcache:amd64-${{ github.head_ref }},mode=max
           dockerhub-token: ${{ secrets.DOCKERHUB_TOKEN }}
 
-      - name: Build 'Autoware' with CUDA
-        if: ${{ steps.author-check.outputs.author-found == 'true' ||
-          steps.changed-files.outputs.any_changed == 'true' ||
-          github.event_name == 'workflow_dispatch' ||
-          (github.event_name == 'push' && github.ref_type == 'tag') }}
-        uses: ./.github/actions/docker-build-and-push-cuda
-        with:
-          platform: amd64
-          bake-target: autoware
-          build-args: |
-            *.platform=linux/amd64
-            *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
-            *.args.BASE_IMAGE=${{ needs.load-env.outputs.base_image }}
-            *.args.LIB_DIR=x86_64
-            *.cache-from=type=registry,ref=${{ github.repository }}-buildcache:amd64-cuda-${{ github.head_ref }}
-            *.cache-from=type=registry,ref=${{ github.repository }}-buildcache:amd64-cuda-main
-            *.cache-to=type=registry,ref=${{ github.repository }}-buildcache:amd64-cuda-${{ github.head_ref }},mode=max
-          dockerhub-token: ${{ secrets.DOCKERHUB_TOKEN }}
-
       - name: Show disk space
         run: |
           df -h
diff --git a/docker/docker-bake-cuda.hcl b/docker/docker-bake-cuda.hcl