diff --git a/.github/workflows/vcs-import.yaml b/.github/workflows/vcs-import.yaml deleted file mode 100644 index 235c2b19df3..00000000000 --- a/.github/workflows/vcs-import.yaml +++ /dev/null @@ -1,47 +0,0 @@ -name: vcs-import - -on: - pull_request: - workflow_dispatch: - -jobs: - load-env: - uses: ./.github/workflows/load-env.yaml - - vcs-import: - needs: load-env - runs-on: ubuntu-latest - container: ros:${{ needs.load-env.outputs.rosdistro }} - steps: - - name: Check out repository - uses: actions/checkout@v4 - - - name: Install pip for rosdep - run: | - sudo apt-get -y update - sudo apt-get -y install python3-pip - - - name: Register AutonomouStuff repository - uses: autowarefoundation/autoware-github-actions/register-autonomoustuff-repository@v1 - with: - rosdistro: ${{ needs.load-env.outputs.rosdistro }} - - - name: Set git config - uses: autowarefoundation/autoware-github-actions/set-git-config@v1 - with: - token: ${{ secrets.GITHUB_TOKEN }} - - - name: Run vcs import - run: | - mkdir src - vcs import src < autoware.repos - - - name: Run vcs export - run: | - vcs export --exact src || true - - - name: Run rosdep install - run: | - sudo apt-get -y update - rosdep update - DEBIAN_FRONTEND=noninteractive rosdep install -y --from-paths src --ignore-src --rosdistro ${{ needs.load-env.outputs.rosdistro }} diff --git a/ansible/roles/artifacts/tasks/main.yaml b/ansible/roles/artifacts/tasks/main.yaml index 8c82aba1293..3356431e370 100644 --- a/ansible/roles/artifacts/tasks/main.yaml +++ b/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" diff --git a/autoware.repos b/autoware.repos index 00d9f56e912..32d11ffd5d6 100644 --- a/autoware.repos +++ b/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 diff --git a/docker/Dockerfile b/docker/Dockerfile index 757022a02a1..55a0759c380 100644 --- a/docker/Dockerfile +++ b/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 diff --git a/docker/build.sh b/docker/build.sh index cdaa092c410..4824a88e11b 100755 --- a/docker/build.sh +++ b/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