add base-cuda

Signed-off-by: Yutaka Kondo <[email protected]>
youtalk · Nov 11, 2024 · 87a92f2 · 87a92f2
1 parent 8be21c1
commit 87a92f2
Showing 1 changed file with 58 additions and 20 deletions.
diff --git a/docker/Dockerfile b/docker/Dockerfile
@@ -35,6 +35,17 @@ RUN chmod +x /ros_entrypoint.sh
 ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
 
+FROM base AS base-cuda
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+
+# Set up CUDA runtime environment and artifacts
+# hadolint ignore=SC2002
+RUN --mount=type=ssh \
+  --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  ./setup-dev-env.sh -y --module base --download-artifacts --no-cuda-drivers --runtime openadkit \
+  && pip uninstall -y ansible ansible-core \
+  && apt-get autoremove -y && rm -rf "$HOME"/.cache
+
 # hadolint ignore=DL3006
 FROM $BASE_IMAGE AS rosdep-depend
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
@@ -258,6 +269,20 @@ RUN --mount=type=cache,target=${CCACHE_DIR} \
 ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
 
+FROM universe-common-devel AS universe-common-devel-cuda
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+
+# Set up CUDA development environment
+# hadolint ignore=SC2002
+RUN --mount=type=ssh \
+  --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  ./setup-dev-env.sh -y --module all --no-cuda-drivers --runtime openadkit \
+  && pip uninstall -y ansible ansible-core \
+  && apt-get autoremove -y && rm -rf "$HOME"/.cache
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["/bin/bash"]
+
 FROM universe-common-devel AS universe-sensing-perception-devel
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
@@ -290,17 +315,18 @@ RUN --mount=type=cache,target=${CCACHE_DIR} \
 ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
 
-FROM universe-sensing-perception-devel AS universe-sensing-perception-devel-cuda
+FROM universe-common-devel-cuda AS universe-sensing-perception-devel-cuda
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 ENV CCACHE_DIR="/root/.ccache"
 
-# Set up CUDA development environment
+# Install rosdep dependencies
+COPY --from=rosdep-universe-sensing-perception-depend /rosdep-universe-sensing-perception-depend-packages.txt /tmp/rosdep-universe-sensing-perception-depend-packages.txt
+# hadolint ignore=SC2002
 RUN --mount=type=ssh \
-  --mount=type=cache,target=/var/cache/apt,sharing=locked \
-  ./setup-dev-env.sh -y --module all --no-cuda-drivers openadkit \
-  && pip uninstall -y ansible ansible-core \
-  && apt-get autoremove -y && rm -rf "$HOME"/.cache
+  apt-get update \
+  && cat /tmp/rosdep-universe-sensing-perception-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
+  && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
 
 # hadolint ignore=SC1091
 RUN --mount=type=cache,target=${CCACHE_DIR} \
@@ -328,6 +354,8 @@ RUN --mount=type=cache,target=${CCACHE_DIR} \
   && du -sh ${CCACHE_DIR} && ccache -s \
   && rm -rf /autoware/build
 
+COPY --from=universe-sensing-perception-devel /opt/autoware /opt/autoware
+
 ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
 
@@ -474,17 +502,19 @@ RUN --mount=type=cache,target=${CCACHE_DIR} \
 ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
 
-FROM universe-devel AS universe-devel-cuda
+FROM universe-common-devel-cuda AS universe-devel-cuda
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 
-# Set up CUDA development environment
+# Install rosdep dependencies
+COPY --from=rosdep-universe-depend /rosdep-universe-depend-packages.txt /tmp/rosdep-universe-depend-packages.txt
+# hadolint ignore=SC2002
 RUN --mount=type=ssh \
-  --mount=type=cache,target=/var/cache/apt,sharing=locked \
-  ./setup-dev-env.sh -y --module all --no-cuda-drivers openadkit \
-  && pip uninstall -y ansible ansible-core \
-  && apt-get autoremove -y && rm -rf "$HOME"/.cache
+  apt-get update \
+  && cat /tmp/rosdep-universe-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
+  && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
 
 COPY --from=universe-sensing-perception-devel-cuda /opt/autoware /opt/autoware
+COPY --from=universe-devel /opt/autoware /opt/autoware
 
 ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
@@ -508,7 +538,8 @@ RUN --mount=type=ssh \
   && find / -name "*.o" -type f -delete \
   && find / -name "*.h" -type f -delete \
   && find / -name "*.hpp" -type f -delete \
-  && rm -rf /root/.local/pipx /opt/ros/"$ROS_DISTRO"/include /etc/apt/sources.list.d/cuda*.list \
+  && rm -rf /autoware/ansible /autoware/ansible-galaxy-requirements.yaml /autoware/setup-dev-env.sh /autoware/*.env \
+    /root/.local/pipx /opt/ros/"$ROS_DISTRO"/include /etc/apt/sources.list.d/cuda*.list \
     /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*
 
@@ -521,17 +552,20 @@ RUN echo "source /opt/autoware/setup.bash" > /etc/bash.bashrc
 ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
 
-FROM universe-sensing-perception AS universe-sensing-perception-cuda
+FROM base-cuda AS universe-sensing-perception-cuda
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 ARG LIB_DIR
 
-# Set up CUDA runtime environment and artifacts
+# Set up runtime environment
+COPY --from=rosdep-universe-sensing-perception-depend /rosdep-universe-sensing-perception-exec-depend-packages.txt /tmp/rosdep-universe-sensing-perception-exec-depend-packages.txt
 # hadolint ignore=SC2002
 RUN --mount=type=ssh \
   --mount=type=cache,target=/var/cache/apt,sharing=locked \
-  ./setup-dev-env.sh -y --module all --download-artifacts --no-cuda-drivers --runtime openadkit \
+  ./setup-dev-env.sh -y --module all --no-nvidia --no-cuda-drivers --runtime openadkit \
   && pip uninstall -y ansible ansible-core \
+  && apt-get update \
+  && cat /tmp/rosdep-universe-sensing-perception-exec-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
   && apt-get autoremove -y && rm -rf "$HOME"/.cache \
   && find /usr/lib/$LIB_DIR-linux-gnu -name "*.a" -type f -delete \
   && find / -name "*.o" -type f -delete \
@@ -665,7 +699,8 @@ RUN --mount=type=ssh \
   && find / -name "*.o" -type f -delete \
   && find / -name "*.h" -type f -delete \
   && find / -name "*.hpp" -type f -delete \
-  && rm -rf /root/.local/pipx /opt/ros/"$ROS_DISTRO"/include /etc/apt/sources.list.d/cuda*.list \
+  && rm -rf /autoware/ansible /autoware/ansible-galaxy-requirements.yaml /autoware/setup-dev-env.sh /autoware/*.env \
+    /root/.local/pipx /opt/ros/"$ROS_DISTRO"/include /etc/apt/sources.list.d/cuda*.list \
     /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*
 
@@ -678,17 +713,20 @@ RUN echo "source /opt/autoware/setup.bash" > /etc/bash.bashrc
 ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["/bin/bash"]
 
-FROM universe AS universe-cuda
+FROM base-cuda AS universe-cuda
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 ARG LIB_DIR
 
-# Set up CUDA runtime environment and artifacts
+# Set up runtime environment
+COPY --from=rosdep-universe-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 \
-  ./setup-dev-env.sh -y --module all --download-artifacts --no-cuda-drivers --runtime openadkit \
+  ./setup-dev-env.sh -y --module all --no-nvidia --no-cuda-drivers --runtime openadkit \
   && pip uninstall -y ansible ansible-core \
+  && apt-get update \
+  && cat /tmp/rosdep-exec-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
   && apt-get autoremove -y && rm -rf "$HOME"/.cache \
   && find /usr/lib/$LIB_DIR-linux-gnu -name "*.a" -type f -delete \
   && find / -name "*.o" -type f -delete \