Merge remote-tracking branch 'upstream/main' into upstream-to-origin

Signed-off-by: Yutaka Kondo <[email protected]>

.github/actions/docker-build-and-push/action.yaml

@@ -44,18 +44,15 @@ runs:
     - name: Setup Docker Buildx
       uses: docker/setup-buildx-action@v3
 
-    # TODO(youtalk): Remove obsolete "cache-" restore-keys
     - name: Restore ccache
       uses: actions/cache/restore@v4
       with:
         path: |
           root-ccache
-        key: cache-${{ inputs.platform }}-${{ inputs.name }}-${{ hashFiles('src/**/*.cpp') }}
+        key: ccache-${{ inputs.platform }}-${{ inputs.name }}-${{ hashFiles('src/**/*.cpp') }}
         restore-keys: |
           ccache-${{ inputs.platform }}-${{ inputs.name }}-
           ccache-${{ inputs.platform }}-
-          cache-${{ inputs.platform }}-${{ inputs.name }}-
-          cache-${{ inputs.platform }}-
 
     - name: Restore apt-get
       uses: actions/cache/restore@v4
@@ -109,22 +106,33 @@ runs:
           latest=false
           suffix=-base
 
-    - name: Docker meta for prebuilt
-      id: meta-prebuilt
+    - name: Docker meta for autoware-core
+      id: meta-autoware-core
+      uses: docker/metadata-action@v5
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: ${{ steps.set-docker-tags.outputs.tags }}
+        bake-target: docker-metadata-action-autoware-core
+        flavor: |
+          latest=false
+          suffix=-autoware-core${{ inputs.tag-suffix }}
+
+    - name: Docker meta for autoware-universe
+      id: meta-autoware-universe
       uses: docker/metadata-action@v5
       with:
         images: ghcr.io/${{ github.actor }}/${{ inputs.bake-target }}
         tags: ${{ steps.set-docker-tags.outputs.tags }}
-        bake-target: docker-metadata-action-prebuilt
+        bake-target: docker-metadata-action-autoware-universe
         flavor: |
           latest=false
-          suffix=-prebuilt${{ inputs.tag-suffix }}
+          suffix=-autoware-universe${{ inputs.tag-suffix }}
 
     - name: Docker meta for devel
       id: meta-devel
       uses: docker/metadata-action@v5
       with:
-        images: ghcr.io/${{ github.actor }}/${{ inputs.bake-target }}
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: ${{ steps.set-docker-tags.outputs.tags }}
         bake-target: docker-metadata-action-devel
         flavor: |
@@ -136,7 +144,7 @@ runs:
       id: meta-runtime
       uses: docker/metadata-action@v5
       with:
-        images: ghcr.io/${{ github.actor }}/${{ inputs.bake-target }}
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: ${{ steps.set-docker-tags.outputs.tags }}
         bake-target: docker-metadata-action-runtime
         flavor: |
@@ -147,7 +155,7 @@ runs:
       uses: docker/login-action@v3
       with:
         registry: ghcr.io
-        username: ${{ github.actor }}
+        username: ${{ github.repository_owner }}
         password: ${{ github.token }}
 
     - name: Build and Push to GitHub Container Registry
@@ -160,7 +168,8 @@ runs:
         files: |
           docker/docker-bake.hcl
           ${{ steps.meta-base.outputs.bake-file }}
-          ${{ steps.meta-prebuilt.outputs.bake-file }}
+          ${{ steps.meta-autoware-core.outputs.bake-file }}
+          ${{ steps.meta-autoware-universe.outputs.bake-file }}
           ${{ steps.meta-devel.outputs.bake-file }}
           ${{ steps.meta-runtime.outputs.bake-file }}
         provenance: false
@@ -174,7 +183,8 @@ runs:
         files: |
           docker/docker-bake.hcl
           ${{ steps.meta-base.outputs.bake-file }}
-          ${{ steps.meta-prebuilt.outputs.bake-file }}
+          ${{ steps.meta-autoware-core.outputs.bake-file }}
+          ${{ steps.meta-autoware-universe.outputs.bake-file }}
           ${{ steps.meta-devel.outputs.bake-file }}
           ${{ steps.meta-runtime.outputs.bake-file }}
         provenance: false

.github/actions/docker-build/action.yaml

@@ -34,7 +34,6 @@ runs:
         vcs import src < autoware.repos
       shell: bash
 
-    # TODO(youtalk): Remove obsolete "cache-" restore-keys
     - name: Cache ccache
       uses: actions/cache@v4
       if: ${{ inputs.name == 'no-cuda' && github.ref == 'refs/heads/main' }}
@@ -46,8 +45,6 @@ runs:
         restore-keys: |
           ccache-${{ inputs.platform }}-${{ inputs.name }}-
           ccache-${{ inputs.platform }}-
-          cache-${{ inputs.platform }}-${{ inputs.name }}-
-          cache-${{ inputs.platform }}-
 
     - name: Cache apt-get
       uses: actions/cache@v4
@@ -62,19 +59,16 @@ runs:
           apt-get-${{ inputs.platform }}-${{ inputs.name }}-
           apt-get-${{ inputs.platform }}-
 
-    # TODO(youtalk): Remove obsolete "cache-" restore-keys
     - name: Restore ccache
       uses: actions/cache/restore@v4
       if: ${{ inputs.name != 'no-cuda' || github.ref != 'refs/heads/main' }}
       with:
         path: |
           root-ccache
-        key: cache-${{ inputs.platform }}-${{ inputs.name }}-${{ hashFiles('src/**/*.cpp') }}
+        key: ccache-${{ inputs.platform }}-${{ inputs.name }}-${{ hashFiles('src/**/*.cpp') }}
         restore-keys: |
           ccache-${{ inputs.platform }}-${{ inputs.name }}-
           ccache-${{ inputs.platform }}-
-          cache-${{ inputs.platform }}-${{ inputs.name }}-
-          cache-${{ inputs.platform }}-
 
     - name: Restore apt-get
       uses: actions/cache/restore@v4

.pre-commit-config-ansible.yaml

@@ -1,6 +1,6 @@
 repos:
   - repo: https://github.com/ansible/ansible-lint.git
-    rev: v24.5.0
+    rev: v24.7.0
     hooks:
       - id: ansible-lint
         additional_dependencies:

docker/Dockerfile

@@ -34,11 +34,10 @@ RUN --mount=type=ssh \
 # Create entrypoint
 CMD ["/bin/bash"]
 
-FROM $BASE_IMAGE as src-imported
+FROM $BASE_IMAGE as rosdep-depend
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 
-# Copy files
 COPY setup-dev-env.sh ansible-galaxy-requirements.yaml amd64.env arm64.env /autoware/
 COPY ansible/ /autoware/ansible/
 WORKDIR /autoware
@@ -52,17 +51,28 @@ RUN --mount=type=ssh \
   && pip uninstall -y ansible ansible-core \
   && apt-get autoremove -y && rm -rf "$HOME"/.cache
 
-# Copy repository files
-COPY src /autoware/src
-
 # Generate install package lists
+COPY src/core /autoware/src/core
 RUN rosdep update && rosdep keys --ignore-src --from-paths src \
     | xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
     | grep -v '^#' \
     | sed 's/ \+/\n/g'\
     | sort \
-    > /rosdep-all-depend-packages.txt \
-    && cat /rosdep-all-depend-packages.txt
+    > /rosdep-core-depend-packages.txt \
+    && cat /rosdep-core-depend-packages.txt
+COPY src/launcher /autoware/src/launcher
+COPY src/param /autoware/src/param
+COPY src/sensor_component /autoware/src/sensor_component
+COPY src/sensor_kit /autoware/src/sensor_kit
+COPY src/universe /autoware/src/universe
+COPY src/vehicle /autoware/src/vehicle
+RUN rosdep keys --ignore-src --from-paths src \
+    | xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
+    | grep -v '^#' \
+    | sed 's/ \+/\n/g'\
+    | sort \
+    > /rosdep-universe-depend-packages.txt \
+    && cat /rosdep-universe-depend-packages.txt
 RUN rosdep keys --dependency-types=exec --ignore-src --from-paths src \
     | xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
     | grep -v '^#' \
@@ -71,7 +81,7 @@ RUN rosdep keys --dependency-types=exec --ignore-src --from-paths src \
     > /rosdep-exec-depend-packages.txt \
     && cat /rosdep-exec-depend-packages.txt
 
-FROM base as prebuilt
+FROM base as autoware-core
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 ARG SETUP_ARGS
@@ -87,30 +97,57 @@ RUN --mount=type=ssh \
   && apt-get autoremove -y && rm -rf "$HOME"/.cache
 
 # Install rosdep dependencies
-COPY --from=src-imported /rosdep-all-depend-packages.txt /tmp/rosdep-all-depend-packages.txt
+COPY --from=rosdep-depend /rosdep-core-depend-packages.txt /tmp/rosdep-core-depend-packages.txt
 # hadolint ignore=SC2002
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
   --mount=type=cache,target=/var/lib/apt,sharing=locked \
   apt-get update \
-  && cat /tmp/rosdep-all-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
+  && cat /tmp/rosdep-core-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
   && apt-get autoremove -y && rm -rf "$HOME"/.cache
 
-# Build Autoware
-COPY --from=src-imported /autoware/src /autoware/src
+COPY src/core /autoware/src/core
 RUN --mount=type=cache,target=${CCACHE_DIR} \
   source /opt/ros/"$ROS_DISTRO"/setup.bash \
   && du -sh ${CCACHE_DIR} && ccache -s \
   && colcon build --cmake-args \
     " -Wno-dev" \
     " --no-warn-unused-cli" \
     --mixin release compile-commands ccache \
+  && du -sh ${CCACHE_DIR} && ccache -s
+
+FROM autoware-core as autoware-universe
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ARG ROS_DISTRO
+ARG SETUP_ARGS
+ENV CCACHE_DIR="/root/.ccache"
+
+# Install rosdep dependencies
+COPY --from=rosdep-depend /rosdep-universe-depend-packages.txt /tmp/rosdep-universe-depend-packages.txt
+# hadolint ignore=SC2002
+RUN --mount=type=ssh \
+  apt-get update \
+  && cat /tmp/rosdep-universe-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
+  && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
+
+# Build Autoware
+COPY src/launcher /autoware/src/launcher
+COPY src/param /autoware/src/param
+COPY src/sensor_component /autoware/src/sensor_component
+COPY src/sensor_kit /autoware/src/sensor_kit
+COPY src/universe /autoware/src/universe
+COPY src/vehicle /autoware/src/vehicle
+RUN --mount=type=cache,target=${CCACHE_DIR} \
+  source /opt/ros/"$ROS_DISTRO"/setup.bash \
   && du -sh ${CCACHE_DIR} && ccache -s \
-  && find /autoware/install -type d -exec chmod 777 {} \; \
-  && rm -rf /autoware/build /autoware/src
+  && colcon build --cmake-args \
+    " -Wno-dev" \
+    " --no-warn-unused-cli" \
+    --mixin release compile-commands ccache \
+  && du -sh ${CCACHE_DIR} && ccache -s
 
 CMD ["/bin/bash"]
 
-FROM prebuilt as devel
+FROM autoware-universe as devel
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 
 # Install development tools and artifacts
@@ -134,7 +171,7 @@ ARG LIB_DIR
 ARG SETUP_ARGS
 
 # Set up runtime environment and artifacts
-COPY --from=src-imported /rosdep-exec-depend-packages.txt /tmp/rosdep-exec-depend-packages.txt
+COPY --from=rosdep-depend /rosdep-exec-depend-packages.txt /tmp/rosdep-exec-depend-packages.txt
 # hadolint ignore=SC2002
 RUN --mount=type=ssh \
   --mount=type=cache,target=/var/cache/apt,sharing=locked \
@@ -153,8 +190,7 @@ RUN --mount=type=ssh \
     /etc/apt/sources.list.d/docker.list /etc/apt/sources.list.d/nvidia-docker.list \
     /usr/include /usr/share/doc /usr/lib/gcc /usr/lib/jvm /usr/lib/llvm*
 
-# Copy prebuilt binaries
-COPY --from=prebuilt /autoware/install/ /autoware/install/
+COPY --from=autoware-universe /autoware/install/ /autoware/install/
 
 # Copy bash aliases
 COPY docker/etc/.bash_aliases /root/.bash_aliases

docker/docker-bake.hcl

@@ -1,10 +1,11 @@
 group "default" {
-  targets = ["base", "prebuilt", "devel", "runtime"]
+  targets = ["base", "autoware-core", "autoware-universe", "devel", "runtime"]
 }
 
 // For docker/metadata-action
 target "docker-metadata-action-base" {}
-target "docker-metadata-action-prebuilt" {}
+target "docker-metadata-action-autoware-core" {}
+target "docker-metadata-action-autoware-universe" {}
 target "docker-metadata-action-devel" {}
 target "docker-metadata-action-runtime" {}
 
@@ -14,10 +15,16 @@ target "base" {
   target = "base"
 }
 
-target "prebuilt" {
-  inherits = ["docker-metadata-action-prebuilt"]
+target "autoware-core" {
+  inherits = ["docker-metadata-action-autoware-core"]
   dockerfile = "docker/Dockerfile"
-  target = "prebuilt"
+  target = "autoware-core"
+}
+
+target "autoware-universe" {
+  inherits = ["docker-metadata-action-autoware-universe"]
+  dockerfile = "docker/Dockerfile"
+  target = "autoware-universe"
 }
 
 target "devel" {