feat(docker): introduce autoware-universe-common stage (autowarefou…

…ndation#5157) * add universe-common stage Signed-off-by: Yutaka Kondo <[email protected]> * create -common list Signed-off-by: Yutaka Kondo <[email protected]> * install dummy Signed-off-by: Yutaka Kondo <[email protected]> * Revert "create -common list" This reverts commit 0b478c1. * Revert "Revert "create -common list"" This reverts commit a682ee3. * move launcher to universe Signed-off-by: Yutaka Kondo <[email protected]> * reorder Signed-off-by: Yutaka Kondo <[email protected]> * reorder Signed-off-by: Yutaka Kondo <[email protected]> * copy 2 packages Signed-off-by: Yutaka Kondo <[email protected]> * mount 2 packages Signed-off-by: Yutaka Kondo <[email protected]> * add todo Signed-off-by: Yutaka Kondo <[email protected]> * remove linefeed Signed-off-by: Yutaka Kondo <[email protected]> --------- Signed-off-by: Yutaka Kondo <[email protected]>
youtalk · Sep 3, 2024 · 28deda8 · 28deda8
1 parent 99786d7
commit 28deda8
Showing 1 changed file with 57 additions and 4 deletions.
diff --git a/docker/Dockerfile b/docker/Dockerfile
@@ -58,6 +58,18 @@ RUN rosdep update && rosdep keys --ignore-src --from-paths src \
     | sort \
     > /rosdep-core-depend-packages.txt \
     && cat /rosdep-core-depend-packages.txt
+COPY src/universe/external /autoware/src/universe/external
+COPY src/universe/autoware.universe/common /autoware/src/universe/autoware.universe/common
+# TODO(youtalk): Remove COPYs when https://github.com/autowarefoundation/autoware.universe/issues/8695 is resolved
+COPY src/universe/autoware.universe/simulator/dummy_perception_publisher /autoware/src/universe/autoware.universe/simulator/dummy_perception_publisher
+COPY src/universe/autoware.universe/vehicle/autoware_vehicle_info_utils /autoware/src/universe/autoware.universe/vehicle/autoware_vehicle_info_utils
+RUN rosdep keys --ignore-src --from-paths src \
+    | xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
+    | grep -v '^#' \
+    | sed 's/ \+/\n/g'\
+    | sort \
+    > /rosdep-universe-common-depend-packages.txt \
+    && cat /rosdep-universe-common-depend-packages.txt
 COPY src/launcher /autoware/src/launcher
 COPY src/param /autoware/src/param
 COPY src/sensor_component /autoware/src/sensor_component
@@ -113,10 +125,41 @@ RUN --mount=type=cache,target=${CCACHE_DIR} \
   && du -sh ${CCACHE_DIR} && ccache -s \
   && rm -rf /autoware/build
 
-FROM autoware-core AS autoware-universe
+FROM autoware-core AS autoware-universe-common
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ARG ROS_DISTRO
+ENV CCACHE_DIR="/root/.ccache"
+
+# Install rosdep dependencies
+COPY --from=rosdep-depend /rosdep-universe-common-depend-packages.txt /tmp/rosdep-universe-common-depend-packages.txt
+# hadolint ignore=SC2002
+RUN --mount=type=ssh \
+  apt-get update \
+  && cat /tmp/rosdep-universe-common-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/* "$HOME"/.cache
+
+# TODO(youtalk): Remove COPYs when https://github.com/autowarefoundation/autoware.universe/issues/8695 is resolved
+# hadolint ignore=SC1091
+RUN --mount=type=cache,target=${CCACHE_DIR} \
+  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/common,target=/autoware/src/universe/autoware.universe/common \
+  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/simulator/dummy_perception_publisher,target=/autoware/src/universe/autoware.universe/simulator/dummy_perception_publisher \
+  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/vehicle/autoware_vehicle_info_utils,target=/autoware/src/universe/autoware.universe/vehicle/autoware_vehicle_info_utils \
+  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/external,target=/autoware/src/universe/external \
+  source /opt/ros/"$ROS_DISTRO"/setup.bash \
+  && source /opt/autoware/setup.bash \
+  && du -sh ${CCACHE_DIR} && ccache -s \
+  && colcon build --cmake-args \
+    " -Wno-dev" \
+    " --no-warn-unused-cli" \
+    --merge-install \
+    --install-base /opt/autoware \
+    --mixin release compile-commands ccache \
+  && du -sh ${CCACHE_DIR} && ccache -s \
+  && rm -rf /autoware/build
+
+FROM autoware-universe-common AS autoware-universe
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
-ARG SETUP_ARGS
 ENV CCACHE_DIR="/root/.ccache"
 
 # Install rosdep dependencies
@@ -127,14 +170,24 @@ RUN --mount=type=ssh \
   && 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
 # hadolint ignore=SC1091
 RUN --mount=type=cache,target=${CCACHE_DIR} \
   --mount=type=bind,from=rosdep-depend,source=/autoware/src/launcher,target=/autoware/src/launcher \
   --mount=type=bind,from=rosdep-depend,source=/autoware/src/param,target=/autoware/src/param \
   --mount=type=bind,from=rosdep-depend,source=/autoware/src/sensor_component,target=/autoware/src/sensor_component \
   --mount=type=bind,from=rosdep-depend,source=/autoware/src/sensor_kit,target=/autoware/src/sensor_kit \
-  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe,target=/autoware/src/universe \
+  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/control,target=/autoware/src/universe/autoware.universe/control \
+  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/evaluator,target=/autoware/src/universe/autoware.universe/evaluator \
+  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/launch,target=/autoware/src/universe/autoware.universe/launch \
+  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/localization,target=/autoware/src/universe/autoware.universe/localization \
+  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/map,target=/autoware/src/universe/autoware.universe/map \
+  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/perception,target=/autoware/src/universe/autoware.universe/perception \
+  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/planning,target=/autoware/src/universe/autoware.universe/planning \
+  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/sensing,target=/autoware/src/universe/autoware.universe/sensing \
+  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/simulator,target=/autoware/src/universe/autoware.universe/simulator \
+  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/system,target=/autoware/src/universe/autoware.universe/system \
+  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/tools,target=/autoware/src/universe/autoware.universe/tools \
+  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/vehicle,target=/autoware/src/universe/autoware.universe/vehicle \
   --mount=type=bind,from=rosdep-depend,source=/autoware/src/vehicle,target=/autoware/src/vehicle \
   source /opt/ros/"$ROS_DISTRO"/setup.bash \
   && source /opt/autoware/setup.bash \