Merge remote-tracking branch 'upstream/src-imported' into vcs-import-…

…outside-dockerfile

ansible/playbooks/rosdep.yaml

@@ -0,0 +1,10 @@
+- name: Register rosdep package repositories
+  hosts: localhost
+  connection: local
+  pre_tasks:
+    - name: Verify OS
+      ansible.builtin.fail:
+        msg: Only Ubuntu 22.04 is supported for this branch. Please refer to https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/source-installation/.
+      when: ansible_distribution != 'Ubuntu' or ansible_distribution_version != '22.04'
+  roles:
+    - role: autoware.dev_env.pacmod

docker/autoware-openadk/Dockerfile

@@ -39,6 +39,40 @@ RUN --mount=type=ssh \
 # Create entrypoint
 CMD ["/bin/bash"]
 
+FROM $BASE_IMAGE as src-imported
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ARG ROS_DISTRO
+
+# Copy files
+COPY setup-dev-env.sh ansible-galaxy-requirements.yaml amd64.env arm64.env /autoware/
+COPY ansible/ /autoware/ansible/
+WORKDIR /autoware
+
+RUN --mount=type=ssh \
+  ./setup-dev-env.sh -y rosdep \
+  && pip uninstall -y ansible ansible-core \
+  && pip install --no-cache-dir vcstool \
+  && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
+
+# Copy repository files
+COPY src /autoware/src
+
+# Generate install package lists
+RUN rosdep update && rosdep keys --ignore-src --from-paths src \
+    | xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
+    | grep -v '^#' \
+    | sed 's/ \+/\n/g'\
+    | sort \
+    > /rosdep-all-depend-packages.txt \
+    && cat /rosdep-all-depend-packages.txt
+RUN rosdep keys --dependency-types=exec --ignore-src --from-paths src \
+    | xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
+    | grep -v '^#' \
+    | sed 's/ \+/\n/g'\
+    | sort \
+    > /rosdep-exec-depend-packages.txt \
+    && cat /rosdep-exec-depend-packages.txt
+
 FROM base as prebuilt
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
@@ -56,14 +90,13 @@ RUN --mount=type=ssh \
   && find / -name 'libcu*.a' -delete \
   && find / -name 'libnv*.a' -delete
 
-# Copy repository files
-COPY src /autoware/src
-
 # Install rosdep dependencies
+COPY --from=src-imported /autoware/src /autoware/src
+COPY --from=src-imported /rosdep-all-depend-packages.txt /tmp/rosdep-all-depend-packages.txt
+# hadolint ignore=SC2002
 RUN --mount=type=ssh \
   apt-get update \
-  && rosdep update \
-  && DEBIAN_FRONTEND=noninteractive rosdep install -y --ignore-src --from-paths src --rosdistro "$ROS_DISTRO" \
+  && cat /tmp/rosdep-all-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
   && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
 
 # Build Autoware
@@ -101,12 +134,13 @@ ARG LIB_DIR
 ARG SETUP_ARGS
 
 # Set up runtime environment and artifacts
-COPY --from=prebuilt /autoware/src /autoware/src
+COPY --from=src-imported /rosdep-exec-depend-packages.txt /tmp/rosdep-exec-depend-packages.txt
+# hadolint ignore=SC2002
 RUN --mount=type=ssh \
   ./setup-dev-env.sh -y --module all ${SETUP_ARGS} --download-artifacts --no-cuda-drivers --runtime openadk \
   && pip uninstall -y ansible ansible-core \
-  && rosdep update \
-  && DEBIAN_FRONTEND=noninteractive rosdep install -y --dependency-types=exec --ignore-src --from-paths src --rosdistro "$ROS_DISTRO" \
+  && apt-get update \
+  && cat /tmp/rosdep-exec-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/* "$HOME"/.cache \
   && find /usr/lib/$LIB_DIR-linux-gnu -name "*.a" -type f -delete \
   && find / -name "*.o" -type f -delete \