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simplify rosdep-depend
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Signed-off-by: Yutaka Kondo <[email protected]>
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@youtalk
youtalk committed Sep 4, 2024
1 parent 60a6bca commit 7593e50
Showing 1 changed file with 28 additions and 36 deletions.
64 changes: 28 additions & 36 deletions docker/Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@ RUN --mount=type=ssh \
CMD ["/bin/bash"]

# hadolint ignore=DL3006
FROM $BASE_IMAGE AS autoware-core-depend
FROM $BASE_IMAGE AS rosdep-depend
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO

Expand Down Expand Up @@ -72,10 +72,6 @@ RUN rosdep keys --ignore-src --from-paths src \
> /rosdep-universe-common-depend-packages.txt \
&& cat /rosdep-universe-common-depend-packages.txt

FROM autoware-core-depend AS autoware-universe-sensing-perception-depend
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO

COPY src/universe/autoware.universe/perception /autoware/src/universe/autoware.universe/perception
COPY src/universe/autoware.universe/sensing /autoware/src/universe/autoware.universe/sensing
RUN rosdep keys --ignore-src --from-paths src \
Expand All @@ -86,10 +82,6 @@ RUN rosdep keys --ignore-src --from-paths src \
> /rosdep-universe-sensing-perception-depend-packages.txt \
&& cat /rosdep-universe-sensing-perception-depend-packages.txt

FROM autoware-core-depend AS autoware-universe-depend
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO

COPY src/launcher /autoware/src/launcher
COPY src/param /autoware/src/param
COPY src/sensor_component /autoware/src/sensor_component
Expand Down Expand Up @@ -126,15 +118,15 @@ RUN --mount=type=ssh \
&& apt-get autoremove -y && rm -rf "$HOME"/.cache

# Install rosdep dependencies
COPY --from=autoware-core-depend /rosdep-core-depend-packages.txt /tmp/rosdep-core-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 \
apt-get update \
&& cat /tmp/rosdep-core-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
&& apt-get autoremove -y && rm -rf "$HOME"/.cache

RUN --mount=type=cache,target=${CCACHE_DIR} \
--mount=type=bind,from=autoware-core-depend,source=/autoware/src/core,target=/autoware/src/core \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/core,target=/autoware/src/core \
source /opt/ros/"$ROS_DISTRO"/setup.bash \
&& du -sh ${CCACHE_DIR} && ccache -s \
&& colcon build --cmake-args \
Expand All @@ -152,7 +144,7 @@ ARG ROS_DISTRO
ENV CCACHE_DIR="/root/.ccache"

# Install rosdep dependencies
COPY --from=autoware-core-depend /rosdep-universe-common-depend-packages.txt /tmp/rosdep-universe-common-depend-packages.txt
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 \
Expand All @@ -162,10 +154,10 @@ RUN --mount=type=ssh \
# TODO(youtalk): Remove COPYs when https://github.com/autowarefoundation/autoware.universe/issues/8695 is resolved
# hadolint ignore=SC1091
RUN --mount=type=cache,target=${CCACHE_DIR} \
--mount=type=bind,from=autoware-core-depend,source=/autoware/src/universe/autoware.universe/common,target=/autoware/src/universe/autoware.universe/common \
--mount=type=bind,from=autoware-core-depend,source=/autoware/src/universe/autoware.universe/simulator/dummy_perception_publisher,target=/autoware/src/universe/autoware.universe/simulator/dummy_perception_publisher \
--mount=type=bind,from=autoware-core-depend,source=/autoware/src/universe/autoware.universe/vehicle/autoware_vehicle_info_utils,target=/autoware/src/universe/autoware.universe/vehicle/autoware_vehicle_info_utils \
--mount=type=bind,from=autoware-core-depend,source=/autoware/src/universe/external,target=/autoware/src/universe/external \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/common,target=/autoware/src/universe/autoware.universe/common \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/simulator/dummy_perception_publisher,target=/autoware/src/universe/autoware.universe/simulator/dummy_perception_publisher \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/vehicle/autoware_vehicle_info_utils,target=/autoware/src/universe/autoware.universe/vehicle/autoware_vehicle_info_utils \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/external,target=/autoware/src/universe/external \
source /opt/ros/"$ROS_DISTRO"/setup.bash \
&& source /opt/autoware/setup.bash \
&& du -sh ${CCACHE_DIR} && ccache -s \
Expand All @@ -184,7 +176,7 @@ ARG ROS_DISTRO
ENV CCACHE_DIR="/root/.ccache"

# Install rosdep dependencies
COPY --from=autoware-universe-sensing-perception-depend /rosdep-universe-sensing-perception-depend-packages.txt /tmp/rosdep-universe-sensing-perception-depend-packages.txt
COPY --from=rosdep-depend /rosdep-universe-sensing-perception-depend-packages.txt /tmp/rosdep-universe-sensing-perception-depend-packages.txt
# hadolint ignore=SC2002
RUN --mount=type=ssh \
apt-get update \
Expand All @@ -193,8 +185,8 @@ RUN --mount=type=ssh \

# hadolint ignore=SC1091
RUN --mount=type=cache,target=${CCACHE_DIR} \
--mount=type=bind,from=autoware-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/perception,target=/autoware/src/universe/autoware.universe/perception \
--mount=type=bind,from=autoware-universe-sensing-perception-depend,source=/autoware/src/universe/autoware.universe/sensing,target=/autoware/src/universe/autoware.universe/sensing \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/perception,target=/autoware/src/universe/autoware.universe/perception \
--mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/sensing,target=/autoware/src/universe/autoware.universe/sensing \
source /opt/ros/"$ROS_DISTRO"/setup.bash \
&& source /opt/autoware/setup.bash \
&& du -sh ${CCACHE_DIR} && ccache -s \
Expand All @@ -215,7 +207,7 @@ ARG ROS_DISTRO
ENV CCACHE_DIR="/root/.ccache"

# Install rosdep dependencies
COPY --from=autoware-universe-depend /rosdep-universe-depend-packages.txt /tmp/rosdep-universe-depend-packages.txt
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 \
Expand All @@ -225,21 +217,21 @@ RUN --mount=type=ssh \
COPY --from=autoware-universe-sensing-perception /opt/autoware /opt/autoware
# hadolint ignore=SC1091
RUN --mount=type=cache,target=${CCACHE_DIR} \
--mount=type=bind,from=autoware-universe-depend,source=/autoware/src/launcher,target=/autoware/src/launcher \
--mount=type=bind,from=autoware-universe-depend,source=/autoware/src/param,target=/autoware/src/param \
--mount=type=bind,from=autoware-universe-depend,source=/autoware/src/sensor_component,target=/autoware/src/sensor_component \
--mount=type=bind,from=autoware-universe-depend,source=/autoware/src/sensor_kit,target=/autoware/src/sensor_kit \
--mount=type=bind,from=autoware-universe-depend,source=/autoware/src/universe/autoware.universe/control,target=/autoware/src/universe/autoware.universe/control \
--mount=type=bind,from=autoware-universe-depend,source=/autoware/src/universe/autoware.universe/evaluator,target=/autoware/src/universe/autoware.universe/evaluator \
--mount=type=bind,from=autoware-universe-depend,source=/autoware/src/universe/autoware.universe/launch,target=/autoware/src/universe/autoware.universe/launch \
--mount=type=bind,from=autoware-universe-depend,source=/autoware/src/universe/autoware.universe/localization,target=/autoware/src/universe/autoware.universe/localization \
--mount=type=bind,from=autoware-universe-depend,source=/autoware/src/universe/autoware.universe/map,target=/autoware/src/universe/autoware.universe/map \
--mount=type=bind,from=autoware-universe-depend,source=/autoware/src/universe/autoware.universe/planning,target=/autoware/src/universe/autoware.universe/planning \
--mount=type=bind,from=autoware-universe-depend,source=/autoware/src/universe/autoware.universe/simulator,target=/autoware/src/universe/autoware.universe/simulator \
--mount=type=bind,from=autoware-universe-depend,source=/autoware/src/universe/autoware.universe/system,target=/autoware/src/universe/autoware.universe/system \
--mount=type=bind,from=autoware-universe-depend,source=/autoware/src/universe/autoware.universe/tools,target=/autoware/src/universe/autoware.universe/tools \
--mount=type=bind,from=autoware-universe-depend,source=/autoware/src/universe/autoware.universe/vehicle,target=/autoware/src/universe/autoware.universe/vehicle \
--mount=type=bind,from=autoware-universe-depend,source=/autoware/src/vehicle,target=/autoware/src/vehicle \
--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/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/planning,target=/autoware/src/universe/autoware.universe/planning \
--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 \
&& du -sh ${CCACHE_DIR} && ccache -s \
Expand Down Expand Up @@ -277,7 +269,7 @@ ARG LIB_DIR
ARG SETUP_ARGS

# Set up runtime environment and artifacts
COPY --from=autoware-universe-depend /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 \
Expand Down

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