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

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

ansible/roles/artifacts/tasks/main.yaml

@@ -428,29 +428,3 @@
   ansible.builtin.unarchive:
     src: "{{ data_dir }}/tvm_utility/yolo_v2_tiny-x86_64-llvm-3.0.0-20221221.tar.gz"
     dest: "{{ data_dir }}/tvm_utility/models/yolo_v2_tiny"
-
-# lidar_apollo_segmentation_tvm
-- name: Create lidar_apollo_segmentation_tvm/models directory inside {{ data_dir }}
-  ansible.builtin.file:
-    path: "{{ data_dir }}/lidar_apollo_segmentation_tvm/models"
-    mode: "755"
-    state: directory
-
-- name: Download baidu_cnn-x86_64-llvm-3.0.0-20221221.tar.gz
-  become: true
-  ansible.builtin.get_url:
-    url: https://autoware-modelzoo.s3.us-east-2.amazonaws.com/models/3.0.0-20221221/baidu_cnn-x86_64-llvm-3.0.0-20221221.tar.gz
-    dest: "{{ data_dir }}/lidar_apollo_segmentation_tvm/baidu_cnn-x86_64-llvm-3.0.0-20221221.tar.gz"
-    mode: "644"
-    checksum: sha256:4293e6196ec937d2cd5ec658e5ce70933647d2d38633a1805febb36cafd684e3
-
-- name: Create baidu_cnn folder in lidar_apollo_segmentation_tvm/models of {{ data_dir }}
-  ansible.builtin.file:
-    path: "{{ data_dir }}/lidar_apollo_segmentation_tvm/models/baidu_cnn"
-    mode: "755"
-    state: directory
-
-- name: Extract baidu_cnn-x86_64-llvm-3.0.0-20221221.tar.gz
-  ansible.builtin.unarchive:
-    src: "{{ data_dir }}/lidar_apollo_segmentation_tvm/baidu_cnn-x86_64-llvm-3.0.0-20221221.tar.gz"
-    dest: "{{ data_dir }}/lidar_apollo_segmentation_tvm/models/baidu_cnn"

autoware.repos

@@ -104,10 +104,16 @@ repositories:
     type: git
     url: https://github.com/tier4/nebula.git
     version: main
-  sensor_component/external/transport_drivers:
+  # Fork of transport_drivers that enables reduction of copy operations
+  sensor_component/transport_drivers:
     type: git
-    url: https://github.com/MapIV/transport_drivers.git
-    version: boost
+    url: https://github.com/autowarefoundation/transport_drivers
+    version: mutable-buffer-in-udp-callback
+  # Continental compatible version of ROS 2 socket CAN
+  sensor_component/ros2_socketcan:
+    type: git
+    url: https://github.com/autowarefoundation/ros2_socketcan
+    version: feat/continental_fd
   # sensor_kit
   sensor_kit/sample_sensor_kit_launch:
     type: git

docker/Dockerfile

@@ -100,8 +100,8 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
   && cat /tmp/rosdep-core-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
   && apt-get autoremove -y && rm -rf "$HOME"/.cache
 
-COPY src/core /autoware/src/core
-RUN --mount=type=cache,target=${CCACHE_DIR} \
+RUN --mount=type=bind,from=rosdep-depend,source=/autoware/src/core,target=/autoware/src/core \
+  --mount=type=cache,target=${CCACHE_DIR} \
   source /opt/ros/"$ROS_DISTRO"/setup.bash \
   && du -sh ${CCACHE_DIR} && ccache -s \
   && colcon build --cmake-args \
@@ -125,13 +125,8 @@ RUN --mount=type=ssh \
   && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$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=${CCACHE_DIR} \
+RUN --mount=type=bind,from=rosdep-depend,source=/autoware/src,target=/autoware/src \
+  --mount=type=cache,target=${CCACHE_DIR} \
   source /opt/ros/"$ROS_DISTRO"/setup.bash \
   && du -sh ${CCACHE_DIR} && ccache -s \
   && colcon build --cmake-args \
@@ -152,6 +147,7 @@ RUN --mount=type=ssh \
   && pip uninstall -y ansible ansible-core \
   && apt-get autoremove -y && rm -rf "$HOME"/.cache
 
+COPY src /autoware/src
 # Create entrypoint
 COPY docker/etc/ros_entrypoint.sh /ros_entrypoint.sh
 RUN chmod +x /ros_entrypoint.sh

docker/build.sh

@@ -134,7 +134,6 @@ build_images() {
         --set "*.args.LIB_DIR=$lib_dir" \
         --set "base.tags=ghcr.io/autowarefoundation/autoware:latest-base" \
         --set "devel.tags=ghcr.io/autowarefoundation/autoware:latest-devel$image_name_suffix" \
-        --set "prebuilt.tags=ghcr.io/autowarefoundation/autoware:latest-prebuilt$image_name_suffix" \
         --set "runtime.tags=ghcr.io/autowarefoundation/autoware:latest-runtime$image_name_suffix" \
         "${targets[@]}"
     set +x